/// <summary>
/// Join the conflicting groups into a single group
/// </summary>
/// <param name="conflict">An object that describes the conflict</param>
/// <returns>The composite group of agents</returns>
protected virtual AgentsGroup JoinGroups(Conflict conflict)
{
return(conflict.group1.Join(conflict.group2));
}
/// <summary>
/// Search for an optimal solution using the Independence Detection algorithm in Standley's paper,
/// which utilises a CAT.
/// </summary>
/// <param name="runner"></param>
/// <returns></returns>
public bool ImprovedID(Run runner)
{
while (true)
{
Conflict conflict = FindConflictingGroups();
// If there are no conflicts - can finish the run
if (conflict == null)
{
break;
}
// Try to solve the current conflict by replanning one of the groups
if (this.allConflicts.Contains(conflict) == false)
{
// Add to all conflicts to prevent trying to replan this conflict again
this.allConflicts.Add(conflict);
// Add plan of group2 to illegal moves table and replan group1 with equal cost
if ((conflict.timeOfConflict < conflict.group1.GetPlan().GetSize() - 1) ||
(conflict.group1.allAgentsState.Length > 1)) // Otherwise the conflict is while a single agent is at its goal, no chance of an alternate path with the same cost that avoids the conflict
{
conflict.group1.removeGroupFromCAT(conflictAvoidance);
bool resolved = conflict.group1.ReplanUnderConstraints(conflict.group2.GetPlan(), runner);
conflict.group1.addGroupToCAT(conflictAvoidance, maxSolutionCostFound);
if (resolved == true)
{
continue;
}
}
// Add plan of group1 to illegal moves table and replan group2 with equal cost
if ((conflict.timeOfConflict < conflict.group2.GetPlan().GetSize() - 1) ||
(conflict.group2.allAgentsState.Length > 1))
{
conflict.group2.removeGroupFromCAT(conflictAvoidance);
bool resolved = conflict.group2.ReplanUnderConstraints(conflict.group1.GetPlan(), runner);
conflict.group2.addGroupToCAT(conflictAvoidance, maxSolutionCostFound);
if (resolved == true)
{
continue;
}
}
}
// Groups are conflicting - need to join them to a single group
allGroups.Remove(conflict.group1);
allGroups.Remove(conflict.group2);
// Remove both groups from avoidance table
conflict.group1.removeGroupFromCAT(conflictAvoidance);
conflict.group2.removeGroupFromCAT(conflictAvoidance);
if (this.debug)
{
Debug.WriteLine("Merging " + conflict);
}
AgentsGroup compositeGroup = this.JoinGroups(conflict);
compositeGroup.instance.parameters[CONFLICT_AVOIDANCE] = conflictAvoidance;
// Solve composite group with A*
bool solved = compositeGroup.Solve(runner);
if (compositeGroup.solutionCost > maxSolutionCostFound)
{
maxSolutionCostFound = compositeGroup.solutionCost;
}
//add group to conflict avoidance table
compositeGroup.addGroupToCAT(conflictAvoidance, maxSolutionCostFound);
allGroups.AddFirst(compositeGroup);
this.expanded += compositeGroup.expanded;
this.generated += compositeGroup.generated;
if (compositeGroup.allAgentsState.Length > this.maxGroupSize)
{
this.maxGroupSize = compositeGroup.allAgentsState.Length;
}
if (solved == false)
{
this.totalCost = compositeGroup.solutionCost; // Should be some error code from Constants
return(false);
}
}
return(true);
}