/// <summary>
/// Computes a heuristic by running a bounded CBS search from the given node.
/// Assumes g of node was already calculated and h isn't zero.
/// </summary>
/// <param name="s"></param>
/// <param name="targetCost">Stop when the target cost is reached</param>
/// <param name="sicEstimate">For a debug assertion.</param>
/// <param name="lowLevelGeneratedCap">The number of low level nodes to generated</param>
/// <param name="milliCap">The process total millisecond count to stop at</param>
/// <param name="resume">Whether to resume the last search instead of solving the given node. Assumes the last search was from the same node as the given node.</param>
/// <returns></returns>
protected uint h(WorldState s, int targetCost, int sicEstimate = -1, int lowLevelGeneratedCap = -1, int milliCap = int.MaxValue, bool resume = false)
{
double start = this.runner.ElapsedMilliseconds();
ProblemInstance sAsProblemInstance;
if (resume == false)
{
this.cbs.Clear();
sAsProblemInstance = s.ToProblemInstance(this.instance);
this.cbs.Setup(sAsProblemInstance,
Math.Max(s.makespan, // This forces must constraints to be upheld when dealing with A*+OD nodes,
// at the cost of forcing every agent to move when a goal could be found earlier with all must constraints upheld.
s.minDepth), // No point in finding shallower goal nodes
this.runner);
if (this.cbs.openList.Count > 0 && this.cbs.topMost)
{
if (sicEstimate == -1)
{
sicEstimate = (int)SumIndividualCosts.h(s, this.instance);
}
Debug.Assert(((CbsNode)this.cbs.openList.Peek()).totalCost - s.g == (int)sicEstimate,
"Total cost of CBS root not same as SIC + g");
// Notice we're substracting s.g, not sAsProblemInstance.g.
// Must constraints we put may have forced some moves,
// and we shouldn't count them as part of the estimate.
}
}
else
{
sAsProblemInstance = this.cbs.GetProblemInstance();
}
if (lowLevelGeneratedCap == -1)
{
// Rough estimate of the branching factor:
lowLevelGeneratedCap = (int)Math.Pow(Constants.NUM_ALLOWED_DIRECTIONS, this.instance.m_vAgents.Length);
}
// Calc the h:
this.cbs.targetCost = targetCost;
this.cbs.milliCap = milliCap;
this.cbs.lowLevelGeneratedCap = lowLevelGeneratedCap;
bool solved = this.cbs.Solve();
if (solved && this.reportSolution)
{
// We're always going to find a proper goal since we respected the node's minDepth
s.SetSolution(this.cbs.GetSinglePlans());
s.SetGoalCost(this.cbs.totalCost); // We have to do it explicitly.
// We can't just change the node's g to g + cbs.totalCost and its h to zero
// because approaches like BPMX or maximazing PDBs might "fix" the h back.
// So instead h is bumped to its maximum value when this method returns.
s.SetSingleCosts(this.cbs.GetSingleCosts());
this.nodesSolved++;
}
double end = this.runner.ElapsedMilliseconds();
this.totalRuntime += end - start;
this.nCalls++;
this.cbs.AccumulateStatistics();
this.cbs.ClearStatistics();
if (this.cbs.totalCost < 0) // A timeout is legitimately possible if very little time was left to begin with,
// and a no solution failure may theoretically be possible too.
{
return(this.cbs.GetHeuristic().h(s));
}
Debug.Assert(this.cbs.totalCost >= s.g, "CBS total cost " + this.cbs.totalCost + " is smaller than starting problem's initial cost " + s.g + "."); // = is allowed since even though this isn't a goal node (otherwise this function won't be called),
// a non-goal node can have h==0 if a minimum depth is specified, and all agents have reached their
// goal in this node, but the depth isn't large enough.
uint cbsEstimate = (uint)(this.cbs.totalCost - s.g);
// Discounting the moves the agents did before we started solving
// (This is easier than making a copy of each AgentState just to zero its lastMove.time)
this.totalImprovement += (int)(cbsEstimate - s.h); // Not computing difference from SIC to not over-count, since a node can be improved twice.
// Can be negative if the base heuristic was improved by:
// - Partial expansion
// - BPMX
if (validate)
{
// Brute-force validation of admissability of estimate:
var sic = new SumIndividualCosts();
sic.init(this.instance, this.vAgents);
var epeastarsic = new AStarWithPartialExpansion(sic);
epeastarsic.Setup(sAsProblemInstance, s.makespan, runner);
bool epeastarsicSolved = epeastarsic.Solve();
if (epeastarsicSolved)
{
Debug.Assert(epeastarsic.totalCost - s.g >= this.cbs.totalCost - s.g, "Inadmissable!!");
}
}
return(cbsEstimate);
}
/// <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;
}
}
/// <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;
}
}