/// <summary>
/// </summary>
/// <param name="cbs">The underlying CBS to use</param>
/// <param name="runner"></param>
/// <param name="reportSolution">
/// Whether to store the solution found by CBS in the node.
/// This should greatly speed up searches.</param>
/// <param name="minAboveSic">
/// The minimum increment by which to beat SIC's estimate, if possible.
/// Larger values would cause each call to the heuristic to take longer, but make it return better estimates.
/// </param>
public CbsHeuristic(CBS_LocalConflicts cbs, Run runner, bool reportSolution = false, int minAboveSic = 1, bool validate = false)
{
this.cbs = cbs;
this.runner = runner;
this.reportSolution = reportSolution;
this.minAboveSic = Math.Max(minAboveSic, 1);
this.validate = validate;
}
/// <summary>
/// Construct with chosen algorithms.
/// </summary>
public Run()
{
this.watch = Stopwatch.StartNew();
// Preparing the heuristics:
heuristics = new List <HeuristicCalculator>();
var sic = new SumIndividualCosts();
heuristics.Add(sic);
var astar = new ClassicAStar(sic, false, false, 0); //withNoBias
var astarWithBias1 = new ClassicAStar(sic, false, false, 1); //withBias
var astarWithBias2 = new ClassicAStar(sic, false, false, 2); //withBias2
var astarWithBias3 = new ClassicAStar(sic, false, false, 3); //withBias3
var astarWithBias4 = new ClassicAStar(sic, false, false, 4); //withBias 4
var astarWithBias5 = new ClassicAStar(sic, false, false, 5); //withBias 5
var astarWithBias6 = new ClassicAStar(sic, false, false, 6); //withBias 6
var astarWithBias7 = new ClassicAStar(sic, false, false, 7); //withBias 7
var astarWithDynamicBias = new ClassicAStar(sic, false, false, -1); //withBias -1
var cbs = new CBS_LocalConflicts(astar, astar, -1);
var astar_with_od = new AStarWithOD(sic);
var epea = new AStarWithPartialExpansion(sic);
var macbsLocal5Epea = new CBS_LocalConflicts(astar, epea, 5);
var macbsLocal50Epea = new CBS_LocalConflicts(astar, epea, 50);
// Preparing the solvers:
solvers = new List <ISolver>();
//k-robust 0,1,2, .. , 7
solvers.Add(new CBS_GlobalConflicts(astar, epea, -1, false, CBS_LocalConflicts.BypassStrategy.BEST_FIT_LOOKAHEAD,
false, CBS_LocalConflicts.ConflictChoice.FIRST, false, false, 1, false, 0, ConstraintPolicy.Range)); // CBS/EPEA* + CARDINAL + BP1
solvers.Add(new CBS_GlobalConflicts(astarWithBias1, epea, -1, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
false, CBS_LocalConflicts.ConflictChoice.FIRST, false, false, 1, false, 1, ConstraintPolicy.Range)); // CBS/EPEA* + CARDINAL + BP1
solvers.Add(new CBS_GlobalConflicts(astarWithBias2, epea, -1, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
false, CBS_LocalConflicts.ConflictChoice.FIRST, false, false, 1, false, 2, ConstraintPolicy.Range)); // CBS/EPEA* + CARDINAL + BP1
/*
* solvers.Add(new CBS_GlobalConflicts(astarWithBias3, epea, -1, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
* false, CBS_LocalConflicts.ConflictChoice.FIRST, false, false, 1, false, 3, ConstraintPolicy.Range)); // CBS/EPEA* + CARDINAL + BP1
*
* solvers.Add(new CBS_GlobalConflicts(astarWithBias4, epea, -1, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
* false, CBS_LocalConflicts.ConflictChoice.FIRST, false, false, 1, false, 4, ConstraintPolicy.Range)); // CBS/EPEA* + CARDINAL + BP1
*
* solvers.Add(new CBS_GlobalConflicts(astarWithBias5, epea, -1, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
* false, CBS_LocalConflicts.ConflictChoice.FIRST, false, false, 1, false, 5, ConstraintPolicy.Range)); // CBS/EPEA* + CARDINAL + BP1
*
* solvers.Add(new CBS_GlobalConflicts(astarWithBias6, epea, -1, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
* false, CBS_LocalConflicts.ConflictChoice.FIRST, false, false, 1, false, 6, ConstraintPolicy.Range)); // CBS/EPEA* + CARDINAL + BP1
*
* solvers.Add(new CBS_GlobalConflicts(astarWithBias7, epea, -1, false, CBS_LocalConflicts.BypassStrategy.FIRST_FIT_LOOKAHEAD,
* false, CBS_LocalConflicts.ConflictChoice.FIRST, false, false, 1, false, 7, ConstraintPolicy.Range)); // CBS/EPEA* + CARDINAL + BP1
*/
outOfTimeCounters = new int[solvers.Count];
for (int i = 0; i < outOfTimeCounters.Length; i++)
{
outOfTimeCounters[i] = 0;
}
}
public DyanamicLazyCbsh(CBS_LocalConflicts cbs, Run runner, bool reportSolution = false, bool validate = false)
: base(cbs, runner, reportSolution, -1, validate)
{
}
/// <summary>
/// Construct with chosen algorithms.
/// </summary>
public Run()
{
this.watch = Stopwatch.StartNew();
// Preparing the heuristics:
heuristics = new List <HeuristicCalculator>();
var sic = new SumIndividualCosts();
heuristics.Add(sic);
var astar = new ClassicAStar(sic);
var cbs = new CBS_LocalConflicts(astar, astar, -1);
var astar_with_od = new AStarWithOD(sic);
var epea = new AStarWithPartialExpansion(sic);
var macbsLocal5Epea = new CBS_LocalConflicts(astar, epea, 5);
//var cbsHeuristicNoSolve1 = new CbsHeuristic(cbs, this, false, 1);
//var cbsHeuristicNoSolve2 = new CbsHeuristic(cbs, this, false, 2);
//var cbsHeuristicNoSolve3 = new CbsHeuristic(cbs, this, false, 3);
//var cbsHeuristicNoSolve4 = new CbsHeuristic(cbs, this, false, 4);
//var cbsHeuristicNoSolve5 = new CbsHeuristic(cbs, this, false, 5);
//var cbsHeuristicNoSolve6 = new CbsHeuristic(cbs, this, false, 6);
//var cbsHeuristicSolve1 = new CbsHeuristic(cbs, this, true, 1);
//var cbsHeuristicSolve2 = new CbsHeuristic(cbs, this, true, 2);
//var cbsHeuristicSolve3 = new CbsHeuristic(cbs, this, true, 3);
//var cbsHeuristicSolve4 = new CbsHeuristic(cbs, this, true, 4);
//var cbsHeuristicSolve5 = new CbsHeuristic(cbs, this, true, 5);
//var cbsHeuristicSolve6 = new CbsHeuristic(cbs, this, true, 6);
//var sicOrCbsh6 = new RandomChoiceOfHeuristic(cbsHeuristicSolve6, sic, 1.0 / 5);
//var dynamicLazyCbsh = new DyanamicLazyCbsh(cbs, this, true);
//heuristics.Add(dynamicLazyCbsh);
var dynamicLazyMacbsLocal5EpeaH = new DyanamicLazyCbsh(macbsLocal5Epea, this, true);
heuristics.Add(dynamicLazyMacbsLocal5EpeaH);
// Preparing the solvers:
solvers = new List <ISolver>();
solvers.Add(new CBS_LocalConflicts(astar, epea, 5)); // Works and is very fast so is a good choice for cost validation
//solvers.Add(new CBS_GlobalConflicts(astar, astar, -1)); // Should be identical since no merging is done
/*
* //solvers.Add(new CBS_LocalConflicts(epea, epea, -1));
* //solvers.Add(new CBS_GlobalConflicts(epea, epea, -1)); // Should be identical since no merging is done.
* //solvers.Add(new CBS_LocalConflicts(epea, epea, 0));
* solvers.Add(new CBS_LocalConflicts(astar, epea, 0));
* //solvers.Add(new CBS_GlobalConflicts(epea, epea, 0));
* //solvers.Add(new CBS_LocalConflicts(epea, epea, 1));
* //solvers.Add(new CBS_GlobalConflicts(epea, epea, 1));
* //solvers.Add(new CBS_LocalConflicts(epea, epea, 5));
* solvers.Add(new CBS_LocalConflicts(astar, epea, 5));
* //solvers.Add(new CBS_GlobalConflicts(epea, epea, 5));
* //solvers.Add(new CBS_LocalConflicts(epea, epea, 10));
* solvers.Add(new CBS_LocalConflicts(astar, epea, 10));
* //solvers.Add(new CBS_GlobalConflicts(epea, epea, 10));
* //solvers.Add(new CBS_LocalConflicts(epea, epea, 100));
* solvers.Add(new CBS_LocalConflicts(astar, epea, 100));
* //solvers.Add(new CBS_GlobalConflicts(epea, epea, 100));
* //solvers.Add(new CBS_LocalConflicts(epea, epea, 500));
* //solvers.Add(new CBS_GlobalConflicts(epea, epea, 500));
*
* //solvers.Add(new CBS_LocalConflicts(astar_with_od, astar_with_od, -1));
* //solvers.Add(new CBS_GlobalConflicts(astar_with_od, astar_with_od, -1)); // Should be identical since no merging is done.
* //solvers.Add(new CBS_LocalConflicts(astar_with_od, astar_with_od, 0));
* solvers.Add(new CBS_LocalConflicts(astar, astar_with_od, 0));
* //solvers.Add(new CBS_GlobalConflicts(astar_with_od, astar_with_od, 0));
* //solvers.Add(new CBS_LocalConflicts(astar_with_od, astar_with_od, 1));
* //solvers.Add(new CBS_GlobalConflicts(astar_with_od, astar_with_od, 1));
* //solvers.Add(new CBS_LocalConflicts(astar_with_od, astar_with_od, 5));
* solvers.Add(new CBS_LocalConflicts(astar, astar_with_od, 5));
* //solvers.Add(new CBS_GlobalConflicts(astar_with_od, astar_with_od, 5));
* //solvers.Add(new CBS_LocalConflicts(astar_with_od, astar_with_od, 10));
* solvers.Add(new CBS_LocalConflicts(astar, astar_with_od, 10));
* //solvers.Add(new CBS_GlobalConflicts(astar_with_od, astar_with_od, 10));
* //solvers.Add(new CBS_LocalConflicts(astar_with_od, astar_with_od, 100));
* solvers.Add(new CBS_LocalConflicts(astar, astar_with_od, 100));
* //solvers.Add(new CBS_GlobalConflicts(astar_with_od, astar_with_od, 100));
* //solvers.Add(new CBS_LocalConflicts(astar_with_od, astar_with_od, 500));
* //solvers.Add(new CBS_GlobalConflicts(astar_with_od, astar_with_od, 500));
*/
//solvers.Add(new ClassicAStar(sic)); // Works
//solvers.Add(new ClassicAStar(cbsHeuristic)); // Works
//solvers.Add(new AStarWithOD(sic)); // Works
//solvers.Add(new AStarWithPartialExpansionBasic(sic)); // Works
//solvers.Add(new AStarWithPartialExpansionBasic(cbsHeuristic));
solvers.Add(new AStarWithPartialExpansion(sic)); // Works.
solvers.Add(new CBS_LocalConflicts(astar, epea, 0)); // EPEA*+(S)ID
//solvers.Add(new ClassicAStar(cbsHeuristicSolve1));
//solvers.Add(new ClassicAStar(cbsHeuristicSolve2));
//solvers.Add(new ClassicAStar(cbsHeuristicSolve3));
//solvers.Add(new ClassicAStar(cbsHeuristicSolve4));
//solvers.Add(new ClassicAStar(cbsHeuristicSolve5));
//solvers.Add(new ClassicAStar(cbsHeuristicSolve6));
//solvers.Add(new ClassicAStar(cbsHeuristicNoSolve1));
//solvers.Add(new ClassicAStar(cbsHeuristicNoSolve2));
//solvers.Add(new ClassicAStar(cbsHeuristicNoSolve3));
//solvers.Add(new ClassicAStar(cbsHeuristicNoSolve4));
//solvers.Add(new ClassicAStar(cbsHeuristicNoSolve5));
//solvers.Add(new ClassicAStar(cbsHeuristicNoSolve6));
//solvers.Add(new ClassicAStar(sicOrCbsh6));
//solvers.Add(new AStarWithOD(cbsHeuristicSolve1));
//solvers.Add(new AStarWithOD(cbsHeuristicSolve2));
//solvers.Add(new AStarWithOD(cbsHeuristicSolve3));
//solvers.Add(new AStarWithOD(cbsHeuristicSolve4));
//solvers.Add(new AStarWithOD(cbsHeuristicSolve5));
//solvers.Add(new AStarWithOD(cbsHeuristicSolve6));
//solvers.Add(new AStarWithOD(cbsHeuristicNoSolve1));
//solvers.Add(new AStarWithOD(cbsHeuristicNoSolve2));
//solvers.Add(new AStarWithOD(cbsHeuristicNoSolve3));
//solvers.Add(new AStarWithOD(cbsHeuristicNoSolve4));
//solvers.Add(new AStarWithOD(cbsHeuristicNoSolve5));
//solvers.Add(new AStarWithOD(cbsHeuristicNoSolve6));
//solvers.Add(new AStarWithOD(sicOrCbsh6));
ClassicAStar solver;
// dynamic not rational lazy A*+OD/CBS/A*/SIC:
//solver = new AStarWithOD(sic);
//var dynamicLazyOpenList1 = new DynamicLazyOpenList(solver, dynamicLazyCbsh, this);
//solver.openList = dynamicLazyOpenList1;
//solvers.Add(solver);
// dynamic rational lazy A*+OD/CBS/A*/SIC:
//solver = new AStarWithOD(sic);
//var dynamicRationalLazyOpenList1 = new DynamicRationalLazyOpenList(solver, dynamicLazyCbsh, this);
//solver.openList = dynamicRationalLazyOpenList1;
//solvers.Add(solver);
// dynamic rational lazy MA-CBS-local-5/A*+OD/MA-CBS-local-5/EPEA*/SIC:
//solver = new AStarWithOD(sic);
//var dynamicRationalLazyOpenList3 = new DynamicRationalLazyOpenList(solver, dynamicLazyMacbsLocal5EpeaH, this);
//solver.openList = dynamicRationalLazyOpenList3;
//solvers.Add(new CBS_LocalConflicts(astar, solver, 5));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicSolve1));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicSolve2));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicSolve3));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicSolve4));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicSolve5));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicSolve6));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicNoSolve1));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicNoSolve2));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicNoSolve3));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicNoSolve4));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicNoSolve5));
//solvers.Add(new AStarWithPartialExpansion(cbsHeuristicNoSolve6));
//solvers.Add(new AStarWithPartialExpansion(sicOrCbsh6));
// dynamic not rational lazy EPEA*/CBS/A*/SIC:
//solver = new AStarWithPartialExpansion(sic);
//var dynamicLazyOpenList2 = new DynamicLazyOpenList(solver, dynamicLazyCbsh, this);
//solver.openList = dynamicLazyOpenList2;
//solvers.Add(solver);
// dynamic rational lazy EPEA*/CBS/A*/SIC:
//solver = new AStarWithPartialExpansion(sic);
//var dynamicRationalLazyOpenList2 = new DynamicRationalLazyOpenList(solver, dynamicLazyCbsh, this);
//solver.openList = dynamicRationalLazyOpenList2;
//solvers.Add(solver);
// MA-CBS-local-5/dynamic rational lazy EPEA*/MA-CBS-local-5/EPEA*/SIC:
solver = new AStarWithPartialExpansion(sic);
var dynamicRationalLazyOpenList4 = new DynamicRationalLazyOpenList(solver, dynamicLazyMacbsLocal5EpeaH, this);
solver.openList = dynamicRationalLazyOpenList4;
solvers.Add(new CBS_LocalConflicts(astar, solver, 5));
// dynamic rational lazy EPEA*/MA-CBS-local-5/EPEA*/SIC + (S)ID:
solver = new AStarWithPartialExpansion(sic);
var dynamicRationalLazyOpenList6 = new DynamicRationalLazyOpenList(solver, dynamicLazyMacbsLocal5EpeaH, this);
solver.openList = dynamicRationalLazyOpenList6;
solvers.Add(new CBS_LocalConflicts(astar, solver, 0));
// dynamic rational lazy EPEA*/MA-CBS-local-5/EPEA*/SIC:
solver = new AStarWithPartialExpansion(sic);
var dynamicRationalLazyOpenList8 = new DynamicRationalLazyOpenList(solver, dynamicLazyMacbsLocal5EpeaH, this);
solver.openList = dynamicRationalLazyOpenList8;
solvers.Add(solver);
//solvers.Add(new CostTreeSearchSolverNoPruning());
//solvers.Add(new CostTreeSearchSolverKMatch(2));
//solvers.Add(new CostTreeSearchSolverOldMatching(2));
//solvers.Add(new CostTreeSearchSolverRepatedMatch(2));
//solvers.Add(new CostTreeSearchSolverKMatch(3));
//solvers.Add(new CostTreeSearchSolverOldMatching(3));
//solvers.Add(new CostTreeSearchSolverRepatedMatch(3));
//solvers.Add(new CostTreeSearchNoPruning());
//solvers.Add(new CostTreeSearchKMatch(2));
//solvers.Add(new CostTreeSearchOldMatching(2));
//solvers.Add(new CostTreeSearchRepatedMatch(2));
//solvers.Add(new CostTreeSearchKMatch(3));
//solvers.Add(new CostTreeSearchOldMatching(3));
//solvers.Add(new CostTreeSearchRepatedMatch(3));
//solvers.Add(new Trevor(new AStarWithPartialExpansion()));
//solvers.Add(new Trevor(new CBS_GlobalConflicts(new AStarWithPartialExpansion(), 1, 1)));
//solvers.Add(new Trevor(new CBS_GlobalConflicts(new AStarWithPartialExpansion(), 5, 5)));
//solvers.Add(new Trevor(new CBS_GlobalConflicts(new AStarWithPartialExpansion(), 10, 10)));
//solvers.Add(new Trevor(new CBS_GlobalConflicts(new AStarWithPartialExpansion(), 100, 100)));
//solvers.Add(new Trevor(new CBS_GlobalConflicts(new AStarWithPartialExpansion(), 500, 500)));
//solvers.Add(new Trevor(new CBS_GlobalConflicts(new ClassicAStar())));
//solvers.Add(new Trevor(new CBS_GlobalConflicts(new ClassicAStar(), 1, 1)));
//solvers.Add(new Trevor(new CBS_GlobalConflicts(new ClassicAStar(), 5, 5)));
//solvers.Add(new Trevor(new CBS_GlobalConflicts(new ClassicAStar(), 10, 10)));
//solvers.Add(new Trevor(new CBS_GlobalConflicts(new ClassicAStar(), 100, 100)));
//solvers.Add(new Trevor(new CBS_GlobalConflicts(new ClassicAStar(), 500, 500)));
//solvers.Add(new Trevor(new AStarWithPartialExpansionBasic()));
//solvers.Add(new Trevor(new AStarWithPartialExpansion()));
//solvers.Add(new Trevor(new ClassicAStar()));
//solvers.Add(new Trevor());
//solvers.Add(new CBS_IDA(new ClassicAStar())); // Don't run! Uses must conds
//solvers.Add(new CBS_GlobalConflicts(new ClassicAStar())); // Works
//solvers.Add(new CBS_NoDD(new ClassicAStar()));
//solvers.Add(new CBS_NoDDb3(new ClassicAStar()));
//solvers.Add(new CBS_GlobalConflicts(new ClassicAStar(), 1, 1)); // Run this!
outOfTimeCounters = new int[solvers.Count];
for (int i = 0; i < outOfTimeCounters.Length; i++)
{
outOfTimeCounters[i] = 0;
}
}