Multi-Robot Navigation Framework

This repository provides a framework for simulating multi-robot navigation under different scenarios using Simplified MDP and POMDP approaches. Follow the instructions below to run the simulations for each case.

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For Simplified MDP Problem

1. Switch to the mcts_dpw branch:

   git checkout mcts_dpw

2. Run the simulation:

   python3 main.py

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For POMDP Problem

1. Switch to the main branch:

   git checkout main

2. Run the simulation:

   python3 main2.py

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For All Problems

To modify the number of robots or their goal positions:

1. Open the relevant code file:

   • For Simplified MDP: main.py
   • For POMDP: main2.py

2. Update the parameters directly in the code:

   # Example: Change robot count or target goals
   num_robots = 3
   goal_positions = [[7, 5], [5, 7], [2, 7]]

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Repository Structure

• mcts_dpw Branch: Contains the implementation for the Simplified MDP Problem.
• main Branch: Contains the implementation for the POMDP Problem.
• Code Files:
  • main.py: Runs the Simplified MDP simulation.
  • main2.py: Runs the POMDP simulation.

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Requirements

• Python Version: Python 3.x
• Install Required Packages:

  pip install -r requirements.txt

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Contact

For questions, issues, or feedback, please reach out to the following:

• Alexandre Carlhammar
  Email: [[email protected]]

• Arpit Dwivedi
  Email: [[email protected]]

• Rohan Garg
  Email: [[email protected]]

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