├── .gitignore ├── CMakeLists.txt ├── README.md ├── benchmark ├── map100by100 │ ├── agents100 │ │ ├── empty │ │ │ ├── map_100by100_obst0_agents100_ex0.yaml │ │ │ ├── map_100by100_obst0_agents100_ex1.yaml │ │ │ ├── map_100by100_obst0_agents100_ex10.yaml │ │ │ ├── map_100by100_obst0_agents100_ex11.yaml │ │ │ ├── map_100by100_obst0_agents100_ex12.yaml │ │ │ ├── map_100by100_obst0_agents100_ex13.yaml │ │ │ ├── map_100by100_obst0_agents100_ex14.yaml │ │ │ ├── map_100by100_obst0_agents100_ex15.yaml │ │ │ ├── map_100by100_obst0_agents100_ex16.yaml │ │ │ ├── map_100by100_obst0_agents100_ex17.yaml │ │ │ ├── map_100by100_obst0_agents100_ex18.yaml │ │ │ ├── map_100by100_obst0_agents100_ex19.yaml │ │ │ ├── map_100by100_obst0_agents100_ex2.yaml │ │ │ ├── map_100by100_obst0_agents100_ex20.yaml │ │ │ ├── map_100by100_obst0_agents100_ex21.yaml │ │ │ ├── map_100by100_obst0_agents100_ex22.yaml │ │ │ ├── map_100by100_obst0_agents100_ex23.yaml │ │ │ ├── map_100by100_obst0_agents100_ex24.yaml │ │ │ ├── map_100by100_obst0_agents100_ex25.yaml │ │ │ ├── map_100by100_obst0_agents100_ex26.yaml │ │ │ ├── map_100by100_obst0_agents100_ex27.yaml │ │ │ ├── map_100by100_obst0_agents100_ex28.yaml │ │ │ ├── map_100by100_obst0_agents100_ex29.yaml │ │ │ ├── map_100by100_obst0_agents100_ex3.yaml │ │ │ ├── map_100by100_obst0_agents100_ex30.yaml │ │ │ ├── map_100by100_obst0_agents100_ex31.yaml │ │ │ ├── map_100by100_obst0_agents100_ex32.yaml │ │ │ ├── map_100by100_obst0_agents100_ex33.yaml │ │ │ ├── map_100by100_obst0_agents100_ex34.yaml │ │ │ ├── map_100by100_obst0_agents100_ex35.yaml │ │ │ ├── map_100by100_obst0_agents100_ex36.yaml │ │ │ ├── map_100by100_obst0_agents100_ex37.yaml │ │ │ ├── map_100by100_obst0_agents100_ex38.yaml │ │ │ ├── map_100by100_obst0_agents100_ex39.yaml │ │ │ ├── map_100by100_obst0_agents100_ex4.yaml │ │ │ ├── map_100by100_obst0_agents100_ex40.yaml │ │ │ ├── map_100by100_obst0_agents100_ex41.yaml │ │ │ ├── map_100by100_obst0_agents100_ex42.yaml │ │ │ ├── map_100by100_obst0_agents100_ex43.yaml │ │ │ ├── map_100by100_obst0_agents100_ex44.yaml │ │ │ ├── map_100by100_obst0_agents100_ex45.yaml │ │ │ ├── map_100by100_obst0_agents100_ex46.yaml │ │ │ ├── map_100by100_obst0_agents100_ex47.yaml │ │ │ ├── map_100by100_obst0_agents100_ex48.yaml │ │ │ ├── map_100by100_obst0_agents100_ex49.yaml │ │ │ ├── map_100by100_obst0_agents100_ex5.yaml │ │ │ ├── map_100by100_obst0_agents100_ex50.yaml │ │ │ ├── map_100by100_obst0_agents100_ex51.yaml │ │ │ ├── map_100by100_obst0_agents100_ex52.yaml │ │ │ ├── map_100by100_obst0_agents100_ex53.yaml │ │ │ ├── map_100by100_obst0_agents100_ex54.yaml │ │ │ ├── map_100by100_obst0_agents100_ex55.yaml │ │ │ ├── map_100by100_obst0_agents100_ex56.yaml │ │ │ ├── map_100by100_obst0_agents100_ex57.yaml │ │ │ ├── map_100by100_obst0_agents100_ex58.yaml │ │ │ ├── map_100by100_obst0_agents100_ex59.yaml │ │ │ ├── map_100by100_obst0_agents100_ex6.yaml │ │ │ ├── map_100by100_obst0_agents100_ex7.yaml │ │ │ ├── map_100by100_obst0_agents100_ex8.yaml │ │ │ └── map_100by100_obst0_agents100_ex9.yaml │ │ └── obstacle │ │ │ ├── map_100by100_obst50_agents100_ex0.yaml │ │ │ ├── map_100by100_obst50_agents100_ex1.yaml │ │ │ ├── map_100by100_obst50_agents100_ex10.yaml │ │ │ ├── map_100by100_obst50_agents100_ex11.yaml │ │ │ ├── map_100by100_obst50_agents100_ex12.yaml │ │ │ ├── map_100by100_obst50_agents100_ex13.yaml │ │ │ ├── map_100by100_obst50_agents100_ex14.yaml │ │ │ ├── map_100by100_obst50_agents100_ex15.yaml │ │ │ ├── map_100by100_obst50_agents100_ex16.yaml │ │ │ ├── map_100by100_obst50_agents100_ex17.yaml │ │ │ ├── map_100by100_obst50_agents100_ex18.yaml │ │ │ ├── map_100by100_obst50_agents100_ex19.yaml │ │ │ ├── map_100by100_obst50_agents100_ex2.yaml │ │ │ ├── map_100by100_obst50_agents100_ex20.yaml │ │ │ ├── map_100by100_obst50_agents100_ex21.yaml │ │ │ ├── map_100by100_obst50_agents100_ex22.yaml │ │ │ ├── map_100by100_obst50_agents100_ex23.yaml │ │ │ ├── map_100by100_obst50_agents100_ex24.yaml │ │ │ ├── map_100by100_obst50_agents100_ex25.yaml │ │ │ ├── map_100by100_obst50_agents100_ex26.yaml │ │ │ ├── map_100by100_obst50_agents100_ex27.yaml │ │ │ ├── map_100by100_obst50_agents100_ex28.yaml │ │ │ ├── map_100by100_obst50_agents100_ex29.yaml │ │ │ ├── map_100by100_obst50_agents100_ex3.yaml │ │ │ ├── map_100by100_obst50_agents100_ex30.yaml │ │ │ ├── map_100by100_obst50_agents100_ex31.yaml │ │ │ ├── map_100by100_obst50_agents100_ex32.yaml │ │ │ ├── map_100by100_obst50_agents100_ex33.yaml │ │ │ ├── map_100by100_obst50_agents100_ex34.yaml │ │ │ ├── map_100by100_obst50_agents100_ex35.yaml │ │ │ ├── map_100by100_obst50_agents100_ex36.yaml │ │ │ ├── map_100by100_obst50_agents100_ex37.yaml │ │ │ ├── map_100by100_obst50_agents100_ex38.yaml │ │ │ ├── map_100by100_obst50_agents100_ex39.yaml │ │ │ ├── map_100by100_obst50_agents100_ex4.yaml │ │ │ ├── map_100by100_obst50_agents100_ex40.yaml │ │ │ ├── map_100by100_obst50_agents100_ex41.yaml │ │ │ ├── map_100by100_obst50_agents100_ex42.yaml │ │ │ ├── map_100by100_obst50_agents100_ex43.yaml │ │ │ ├── map_100by100_obst50_agents100_ex44.yaml │ │ │ ├── map_100by100_obst50_agents100_ex45.yaml │ │ │ ├── map_100by100_obst50_agents100_ex46.yaml │ │ │ ├── map_100by100_obst50_agents100_ex47.yaml │ │ │ ├── map_100by100_obst50_agents100_ex48.yaml │ │ │ ├── map_100by100_obst50_agents100_ex49.yaml │ │ │ ├── map_100by100_obst50_agents100_ex5.yaml │ │ │ ├── map_100by100_obst50_agents100_ex50.yaml │ │ │ ├── map_100by100_obst50_agents100_ex51.yaml │ │ │ ├── map_100by100_obst50_agents100_ex52.yaml │ │ │ ├── map_100by100_obst50_agents100_ex53.yaml │ │ │ ├── map_100by100_obst50_agents100_ex54.yaml │ │ │ ├── map_100by100_obst50_agents100_ex55.yaml │ │ │ ├── map_100by100_obst50_agents100_ex56.yaml │ │ │ ├── map_100by100_obst50_agents100_ex57.yaml │ │ │ ├── map_100by100_obst50_agents100_ex58.yaml │ │ │ ├── map_100by100_obst50_agents100_ex59.yaml │ │ │ ├── map_100by100_obst50_agents100_ex6.yaml │ │ │ ├── map_100by100_obst50_agents100_ex7.yaml │ │ │ ├── map_100by100_obst50_agents100_ex8.yaml │ │ │ └── map_100by100_obst50_agents100_ex9.yaml │ ├── agents25 │ │ ├── empty │ │ │ ├── map_100by100_obst0_agents25_ex0.yaml │ │ │ ├── map_100by100_obst0_agents25_ex1.yaml │ │ │ ├── map_100by100_obst0_agents25_ex10.yaml │ │ │ ├── map_100by100_obst0_agents25_ex11.yaml │ │ │ ├── map_100by100_obst0_agents25_ex12.yaml │ │ │ ├── map_100by100_obst0_agents25_ex13.yaml │ │ │ ├── map_100by100_obst0_agents25_ex14.yaml │ │ │ ├── map_100by100_obst0_agents25_ex15.yaml │ │ │ ├── map_100by100_obst0_agents25_ex16.yaml │ │ │ ├── map_100by100_obst0_agents25_ex17.yaml │ │ │ ├── map_100by100_obst0_agents25_ex18.yaml │ │ │ ├── map_100by100_obst0_agents25_ex19.yaml │ │ │ ├── map_100by100_obst0_agents25_ex2.yaml │ │ │ ├── map_100by100_obst0_agents25_ex20.yaml │ │ │ ├── map_100by100_obst0_agents25_ex21.yaml │ │ │ ├── map_100by100_obst0_agents25_ex22.yaml │ │ │ ├── map_100by100_obst0_agents25_ex23.yaml │ │ │ ├── map_100by100_obst0_agents25_ex24.yaml │ │ │ ├── map_100by100_obst0_agents25_ex25.yaml │ │ │ ├── map_100by100_obst0_agents25_ex26.yaml │ │ │ ├── map_100by100_obst0_agents25_ex27.yaml │ │ │ ├── map_100by100_obst0_agents25_ex28.yaml │ │ │ ├── map_100by100_obst0_agents25_ex29.yaml │ │ │ ├── map_100by100_obst0_agents25_ex3.yaml │ │ │ ├── map_100by100_obst0_agents25_ex30.yaml │ │ │ ├── map_100by100_obst0_agents25_ex31.yaml │ │ │ ├── map_100by100_obst0_agents25_ex32.yaml │ │ │ ├── map_100by100_obst0_agents25_ex33.yaml │ │ │ ├── map_100by100_obst0_agents25_ex34.yaml │ │ │ ├── map_100by100_obst0_agents25_ex35.yaml │ │ │ ├── map_100by100_obst0_agents25_ex36.yaml │ │ │ ├── map_100by100_obst0_agents25_ex37.yaml │ │ │ ├── map_100by100_obst0_agents25_ex38.yaml │ │ │ ├── map_100by100_obst0_agents25_ex39.yaml │ │ │ ├── map_100by100_obst0_agents25_ex4.yaml │ │ │ ├── map_100by100_obst0_agents25_ex40.yaml │ │ │ ├── map_100by100_obst0_agents25_ex41.yaml │ │ │ ├── map_100by100_obst0_agents25_ex42.yaml │ │ │ ├── map_100by100_obst0_agents25_ex43.yaml │ │ │ ├── map_100by100_obst0_agents25_ex44.yaml │ │ │ ├── map_100by100_obst0_agents25_ex45.yaml │ │ │ ├── map_100by100_obst0_agents25_ex46.yaml │ │ │ ├── map_100by100_obst0_agents25_ex47.yaml │ │ │ ├── map_100by100_obst0_agents25_ex48.yaml │ │ │ ├── map_100by100_obst0_agents25_ex49.yaml │ │ │ ├── map_100by100_obst0_agents25_ex5.yaml │ │ │ ├── map_100by100_obst0_agents25_ex50.yaml │ │ │ ├── map_100by100_obst0_agents25_ex51.yaml │ │ │ ├── map_100by100_obst0_agents25_ex52.yaml │ │ │ ├── map_100by100_obst0_agents25_ex53.yaml │ │ │ ├── map_100by100_obst0_agents25_ex54.yaml │ │ │ ├── map_100by100_obst0_agents25_ex55.yaml │ │ │ ├── map_100by100_obst0_agents25_ex56.yaml │ │ │ ├── map_100by100_obst0_agents25_ex57.yaml │ │ │ ├── map_100by100_obst0_agents25_ex58.yaml │ │ │ ├── map_100by100_obst0_agents25_ex59.yaml │ │ │ ├── map_100by100_obst0_agents25_ex6.yaml │ │ │ ├── map_100by100_obst0_agents25_ex7.yaml │ │ │ ├── map_100by100_obst0_agents25_ex8.yaml │ │ │ └── map_100by100_obst0_agents25_ex9.yaml │ │ └── obstacle │ │ │ ├── map_100by100_obst50_agents25_ex0.yaml │ │ │ ├── map_100by100_obst50_agents25_ex1.yaml │ │ │ ├── map_100by100_obst50_agents25_ex10.yaml │ │ │ ├── map_100by100_obst50_agents25_ex11.yaml │ │ │ ├── map_100by100_obst50_agents25_ex12.yaml │ │ │ ├── map_100by100_obst50_agents25_ex13.yaml │ │ │ ├── map_100by100_obst50_agents25_ex14.yaml │ │ │ ├── map_100by100_obst50_agents25_ex15.yaml │ │ │ ├── map_100by100_obst50_agents25_ex16.yaml │ │ │ ├── map_100by100_obst50_agents25_ex17.yaml │ │ │ ├── map_100by100_obst50_agents25_ex18.yaml │ │ │ ├── map_100by100_obst50_agents25_ex19.yaml │ │ │ ├── map_100by100_obst50_agents25_ex2.yaml │ │ │ ├── map_100by100_obst50_agents25_ex20.yaml │ │ │ ├── map_100by100_obst50_agents25_ex21.yaml │ │ │ ├── map_100by100_obst50_agents25_ex22.yaml │ │ │ ├── map_100by100_obst50_agents25_ex23.yaml │ │ │ ├── map_100by100_obst50_agents25_ex24.yaml │ │ │ ├── map_100by100_obst50_agents25_ex25.yaml │ │ │ ├── map_100by100_obst50_agents25_ex26.yaml │ │ │ ├── map_100by100_obst50_agents25_ex27.yaml │ │ │ ├── map_100by100_obst50_agents25_ex28.yaml │ │ │ ├── map_100by100_obst50_agents25_ex29.yaml │ │ │ ├── map_100by100_obst50_agents25_ex3.yaml │ │ │ ├── map_100by100_obst50_agents25_ex30.yaml │ │ │ ├── map_100by100_obst50_agents25_ex31.yaml │ │ │ ├── map_100by100_obst50_agents25_ex32.yaml │ │ │ ├── map_100by100_obst50_agents25_ex33.yaml │ │ │ ├── map_100by100_obst50_agents25_ex34.yaml │ │ │ ├── map_100by100_obst50_agents25_ex35.yaml │ │ │ ├── map_100by100_obst50_agents25_ex36.yaml │ │ │ ├── map_100by100_obst50_agents25_ex37.yaml │ │ │ ├── map_100by100_obst50_agents25_ex38.yaml │ │ │ ├── map_100by100_obst50_agents25_ex39.yaml │ │ │ ├── map_100by100_obst50_agents25_ex4.yaml │ │ │ ├── map_100by100_obst50_agents25_ex40.yaml │ │ │ ├── map_100by100_obst50_agents25_ex41.yaml │ │ │ ├── map_100by100_obst50_agents25_ex42.yaml │ │ │ ├── map_100by100_obst50_agents25_ex43.yaml │ │ │ ├── map_100by100_obst50_agents25_ex44.yaml │ │ │ ├── map_100by100_obst50_agents25_ex45.yaml │ │ │ ├── map_100by100_obst50_agents25_ex46.yaml │ │ │ ├── map_100by100_obst50_agents25_ex47.yaml │ │ │ ├── map_100by100_obst50_agents25_ex48.yaml │ │ │ ├── map_100by100_obst50_agents25_ex49.yaml │ │ │ ├── map_100by100_obst50_agents25_ex5.yaml │ │ │ ├── map_100by100_obst50_agents25_ex50.yaml │ │ │ ├── map_100by100_obst50_agents25_ex51.yaml │ │ │ ├── map_100by100_obst50_agents25_ex52.yaml │ │ │ ├── map_100by100_obst50_agents25_ex53.yaml │ │ │ ├── map_100by100_obst50_agents25_ex54.yaml │ │ │ ├── map_100by100_obst50_agents25_ex55.yaml │ │ │ ├── map_100by100_obst50_agents25_ex56.yaml │ │ │ ├── map_100by100_obst50_agents25_ex57.yaml │ │ │ ├── map_100by100_obst50_agents25_ex58.yaml │ │ │ ├── map_100by100_obst50_agents25_ex59.yaml │ │ │ ├── map_100by100_obst50_agents25_ex6.yaml │ │ │ ├── map_100by100_obst50_agents25_ex7.yaml │ │ │ ├── map_100by100_obst50_agents25_ex8.yaml │ │ │ └── map_100by100_obst50_agents25_ex9.yaml │ ├── agents30 │ │ ├── empty │ │ │ ├── map_100by100_obst0_agents30_ex0.yaml │ │ │ ├── map_100by100_obst0_agents30_ex1.yaml │ │ │ ├── map_100by100_obst0_agents30_ex10.yaml │ │ │ ├── map_100by100_obst0_agents30_ex11.yaml │ │ │ ├── map_100by100_obst0_agents30_ex12.yaml │ │ │ ├── map_100by100_obst0_agents30_ex13.yaml │ │ │ ├── map_100by100_obst0_agents30_ex14.yaml │ │ │ ├── map_100by100_obst0_agents30_ex15.yaml │ │ │ ├── map_100by100_obst0_agents30_ex16.yaml │ │ │ ├── map_100by100_obst0_agents30_ex17.yaml │ │ │ ├── map_100by100_obst0_agents30_ex18.yaml │ │ │ ├── map_100by100_obst0_agents30_ex19.yaml │ │ │ ├── map_100by100_obst0_agents30_ex2.yaml │ │ │ ├── map_100by100_obst0_agents30_ex20.yaml │ │ │ ├── map_100by100_obst0_agents30_ex21.yaml │ │ │ ├── map_100by100_obst0_agents30_ex22.yaml │ │ │ ├── map_100by100_obst0_agents30_ex23.yaml │ │ │ ├── map_100by100_obst0_agents30_ex24.yaml │ │ │ ├── map_100by100_obst0_agents30_ex25.yaml │ │ │ ├── map_100by100_obst0_agents30_ex26.yaml │ │ │ ├── map_100by100_obst0_agents30_ex27.yaml │ │ │ ├── map_100by100_obst0_agents30_ex28.yaml │ │ │ ├── map_100by100_obst0_agents30_ex29.yaml │ │ │ ├── map_100by100_obst0_agents30_ex3.yaml │ │ │ ├── map_100by100_obst0_agents30_ex30.yaml │ │ │ ├── map_100by100_obst0_agents30_ex31.yaml │ │ │ ├── map_100by100_obst0_agents30_ex32.yaml │ │ │ ├── map_100by100_obst0_agents30_ex33.yaml │ │ │ ├── map_100by100_obst0_agents30_ex34.yaml │ │ │ ├── map_100by100_obst0_agents30_ex35.yaml │ │ │ ├── map_100by100_obst0_agents30_ex36.yaml │ │ │ ├── map_100by100_obst0_agents30_ex37.yaml │ │ │ ├── map_100by100_obst0_agents30_ex38.yaml │ │ │ ├── map_100by100_obst0_agents30_ex39.yaml │ │ │ ├── map_100by100_obst0_agents30_ex4.yaml │ │ │ ├── map_100by100_obst0_agents30_ex40.yaml │ │ │ ├── map_100by100_obst0_agents30_ex41.yaml │ │ │ ├── map_100by100_obst0_agents30_ex42.yaml │ │ │ ├── map_100by100_obst0_agents30_ex43.yaml │ │ │ ├── map_100by100_obst0_agents30_ex44.yaml │ │ │ ├── map_100by100_obst0_agents30_ex45.yaml │ │ │ ├── map_100by100_obst0_agents30_ex46.yaml │ │ │ ├── map_100by100_obst0_agents30_ex47.yaml │ │ │ ├── map_100by100_obst0_agents30_ex48.yaml │ │ │ ├── map_100by100_obst0_agents30_ex49.yaml │ │ │ ├── map_100by100_obst0_agents30_ex5.yaml │ │ │ ├── map_100by100_obst0_agents30_ex50.yaml │ │ │ ├── map_100by100_obst0_agents30_ex51.yaml │ │ │ ├── map_100by100_obst0_agents30_ex52.yaml │ │ │ ├── map_100by100_obst0_agents30_ex53.yaml │ │ │ ├── map_100by100_obst0_agents30_ex54.yaml │ │ │ ├── map_100by100_obst0_agents30_ex55.yaml │ │ │ ├── map_100by100_obst0_agents30_ex56.yaml │ │ │ ├── map_100by100_obst0_agents30_ex57.yaml │ │ │ ├── map_100by100_obst0_agents30_ex58.yaml │ │ │ ├── map_100by100_obst0_agents30_ex59.yaml │ │ │ ├── map_100by100_obst0_agents30_ex6.yaml │ │ │ ├── map_100by100_obst0_agents30_ex7.yaml │ │ │ ├── map_100by100_obst0_agents30_ex8.yaml │ │ │ └── map_100by100_obst0_agents30_ex9.yaml │ │ └── obstacle │ │ │ ├── map_100by100_obst50_agents30_ex0.yaml │ │ │ ├── map_100by100_obst50_agents30_ex1.yaml │ │ │ ├── map_100by100_obst50_agents30_ex10.yaml │ │ │ ├── map_100by100_obst50_agents30_ex11.yaml │ │ │ ├── map_100by100_obst50_agents30_ex12.yaml │ │ │ ├── map_100by100_obst50_agents30_ex13.yaml │ │ │ ├── map_100by100_obst50_agents30_ex14.yaml │ │ │ ├── map_100by100_obst50_agents30_ex15.yaml │ │ │ ├── map_100by100_obst50_agents30_ex16.yaml │ │ │ ├── map_100by100_obst50_agents30_ex17.yaml │ │ │ ├── map_100by100_obst50_agents30_ex18.yaml │ │ │ ├── map_100by100_obst50_agents30_ex19.yaml │ │ │ ├── map_100by100_obst50_agents30_ex2.yaml │ │ │ ├── map_100by100_obst50_agents30_ex20.yaml │ │ │ ├── map_100by100_obst50_agents30_ex21.yaml │ │ │ ├── map_100by100_obst50_agents30_ex22.yaml │ │ │ ├── map_100by100_obst50_agents30_ex23.yaml │ │ │ ├── map_100by100_obst50_agents30_ex24.yaml │ │ │ ├── map_100by100_obst50_agents30_ex25.yaml │ │ │ ├── map_100by100_obst50_agents30_ex26.yaml │ │ │ ├── map_100by100_obst50_agents30_ex27.yaml │ │ │ ├── map_100by100_obst50_agents30_ex28.yaml │ │ │ ├── map_100by100_obst50_agents30_ex29.yaml │ │ │ ├── map_100by100_obst50_agents30_ex3.yaml │ │ │ ├── map_100by100_obst50_agents30_ex30.yaml │ │ │ ├── map_100by100_obst50_agents30_ex31.yaml │ │ │ ├── map_100by100_obst50_agents30_ex32.yaml │ │ │ ├── map_100by100_obst50_agents30_ex33.yaml │ │ │ ├── map_100by100_obst50_agents30_ex34.yaml │ │ │ ├── map_100by100_obst50_agents30_ex35.yaml │ │ │ ├── map_100by100_obst50_agents30_ex36.yaml │ │ │ ├── map_100by100_obst50_agents30_ex37.yaml │ │ │ ├── map_100by100_obst50_agents30_ex38.yaml │ │ │ ├── map_100by100_obst50_agents30_ex39.yaml │ │ │ ├── map_100by100_obst50_agents30_ex4.yaml │ │ │ ├── map_100by100_obst50_agents30_ex40.yaml │ │ │ ├── map_100by100_obst50_agents30_ex41.yaml │ │ │ ├── map_100by100_obst50_agents30_ex42.yaml │ │ │ ├── map_100by100_obst50_agents30_ex43.yaml │ │ │ ├── map_100by100_obst50_agents30_ex44.yaml │ │ │ ├── map_100by100_obst50_agents30_ex45.yaml │ │ │ ├── map_100by100_obst50_agents30_ex46.yaml │ │ │ ├── map_100by100_obst50_agents30_ex47.yaml │ │ │ ├── map_100by100_obst50_agents30_ex48.yaml │ │ │ ├── map_100by100_obst50_agents30_ex49.yaml │ │ │ ├── map_100by100_obst50_agents30_ex5.yaml │ │ │ ├── map_100by100_obst50_agents30_ex50.yaml │ │ │ ├── map_100by100_obst50_agents30_ex51.yaml │ │ │ ├── map_100by100_obst50_agents30_ex52.yaml │ │ │ ├── map_100by100_obst50_agents30_ex53.yaml │ │ │ ├── map_100by100_obst50_agents30_ex54.yaml │ │ │ ├── map_100by100_obst50_agents30_ex55.yaml │ │ │ ├── map_100by100_obst50_agents30_ex56.yaml │ │ │ ├── map_100by100_obst50_agents30_ex57.yaml │ │ │ ├── map_100by100_obst50_agents30_ex58.yaml │ │ │ ├── map_100by100_obst50_agents30_ex59.yaml │ │ │ ├── map_100by100_obst50_agents30_ex6.yaml │ │ │ ├── map_100by100_obst50_agents30_ex7.yaml │ │ │ ├── map_100by100_obst50_agents30_ex8.yaml │ │ │ └── map_100by100_obst50_agents30_ex9.yaml │ ├── agents35 │ │ ├── empty │ │ │ ├── map_100by100_obst0_agents35_ex0.yaml │ │ │ ├── map_100by100_obst0_agents35_ex1.yaml │ │ │ ├── map_100by100_obst0_agents35_ex10.yaml │ │ │ ├── map_100by100_obst0_agents35_ex11.yaml │ │ │ ├── map_100by100_obst0_agents35_ex12.yaml │ │ │ ├── map_100by100_obst0_agents35_ex13.yaml │ │ │ ├── map_100by100_obst0_agents35_ex14.yaml │ │ │ ├── map_100by100_obst0_agents35_ex15.yaml │ │ │ ├── map_100by100_obst0_agents35_ex16.yaml │ │ │ ├── map_100by100_obst0_agents35_ex17.yaml │ │ │ ├── map_100by100_obst0_agents35_ex18.yaml │ │ │ ├── map_100by100_obst0_agents35_ex19.yaml │ │ │ ├── map_100by100_obst0_agents35_ex2.yaml │ │ │ ├── map_100by100_obst0_agents35_ex20.yaml │ │ │ ├── map_100by100_obst0_agents35_ex21.yaml │ │ │ ├── map_100by100_obst0_agents35_ex22.yaml │ │ │ ├── map_100by100_obst0_agents35_ex23.yaml │ │ │ ├── map_100by100_obst0_agents35_ex24.yaml │ │ │ ├── map_100by100_obst0_agents35_ex25.yaml │ │ │ ├── map_100by100_obst0_agents35_ex26.yaml │ │ │ ├── map_100by100_obst0_agents35_ex27.yaml │ │ │ ├── map_100by100_obst0_agents35_ex28.yaml │ │ │ ├── map_100by100_obst0_agents35_ex29.yaml │ │ │ ├── map_100by100_obst0_agents35_ex3.yaml │ │ │ ├── map_100by100_obst0_agents35_ex30.yaml │ │ │ ├── map_100by100_obst0_agents35_ex31.yaml │ │ │ ├── map_100by100_obst0_agents35_ex32.yaml │ │ │ ├── map_100by100_obst0_agents35_ex33.yaml │ │ │ ├── map_100by100_obst0_agents35_ex34.yaml │ │ │ ├── map_100by100_obst0_agents35_ex35.yaml │ │ │ ├── map_100by100_obst0_agents35_ex36.yaml │ │ │ ├── map_100by100_obst0_agents35_ex37.yaml │ │ │ ├── map_100by100_obst0_agents35_ex38.yaml │ │ │ ├── map_100by100_obst0_agents35_ex39.yaml │ │ │ ├── map_100by100_obst0_agents35_ex4.yaml │ │ │ ├── map_100by100_obst0_agents35_ex40.yaml │ │ │ ├── map_100by100_obst0_agents35_ex41.yaml │ │ │ ├── map_100by100_obst0_agents35_ex42.yaml │ │ │ ├── map_100by100_obst0_agents35_ex43.yaml │ │ │ ├── map_100by100_obst0_agents35_ex44.yaml │ │ │ ├── map_100by100_obst0_agents35_ex45.yaml │ │ │ ├── map_100by100_obst0_agents35_ex46.yaml │ │ │ ├── map_100by100_obst0_agents35_ex47.yaml │ │ │ ├── map_100by100_obst0_agents35_ex48.yaml │ │ │ ├── map_100by100_obst0_agents35_ex49.yaml │ │ │ ├── map_100by100_obst0_agents35_ex5.yaml │ │ │ ├── map_100by100_obst0_agents35_ex50.yaml │ │ │ ├── map_100by100_obst0_agents35_ex51.yaml │ │ │ ├── map_100by100_obst0_agents35_ex52.yaml │ │ │ ├── map_100by100_obst0_agents35_ex53.yaml │ │ │ ├── map_100by100_obst0_agents35_ex54.yaml │ │ │ ├── map_100by100_obst0_agents35_ex55.yaml │ │ │ ├── map_100by100_obst0_agents35_ex56.yaml │ │ │ ├── map_100by100_obst0_agents35_ex57.yaml │ │ │ ├── map_100by100_obst0_agents35_ex58.yaml │ │ │ ├── map_100by100_obst0_agents35_ex59.yaml │ │ │ ├── map_100by100_obst0_agents35_ex6.yaml │ │ │ ├── map_100by100_obst0_agents35_ex7.yaml │ │ │ ├── map_100by100_obst0_agents35_ex8.yaml │ │ │ └── map_100by100_obst0_agents35_ex9.yaml │ │ └── obstacle │ │ │ ├── map_100by100_obst50_agents35_ex0.yaml │ │ │ ├── map_100by100_obst50_agents35_ex1.yaml │ │ │ ├── map_100by100_obst50_agents35_ex10.yaml │ │ │ ├── map_100by100_obst50_agents35_ex11.yaml │ │ │ ├── map_100by100_obst50_agents35_ex12.yaml │ │ │ ├── map_100by100_obst50_agents35_ex13.yaml │ │ │ ├── map_100by100_obst50_agents35_ex14.yaml │ │ │ ├── map_100by100_obst50_agents35_ex15.yaml │ │ │ ├── map_100by100_obst50_agents35_ex16.yaml │ │ │ ├── map_100by100_obst50_agents35_ex17.yaml │ │ │ ├── map_100by100_obst50_agents35_ex18.yaml │ │ │ ├── map_100by100_obst50_agents35_ex19.yaml │ │ │ ├── map_100by100_obst50_agents35_ex2.yaml │ │ │ ├── map_100by100_obst50_agents35_ex20.yaml │ │ │ ├── map_100by100_obst50_agents35_ex21.yaml │ │ │ ├── map_100by100_obst50_agents35_ex22.yaml │ │ │ ├── map_100by100_obst50_agents35_ex23.yaml │ │ │ ├── map_100by100_obst50_agents35_ex24.yaml │ │ │ ├── map_100by100_obst50_agents35_ex25.yaml │ │ │ ├── map_100by100_obst50_agents35_ex26.yaml │ │ │ ├── map_100by100_obst50_agents35_ex27.yaml │ │ │ ├── map_100by100_obst50_agents35_ex28.yaml │ │ │ ├── map_100by100_obst50_agents35_ex29.yaml │ │ │ ├── map_100by100_obst50_agents35_ex3.yaml │ │ │ ├── map_100by100_obst50_agents35_ex30.yaml │ │ │ ├── map_100by100_obst50_agents35_ex31.yaml │ │ │ ├── map_100by100_obst50_agents35_ex32.yaml │ │ │ ├── map_100by100_obst50_agents35_ex33.yaml │ │ │ ├── map_100by100_obst50_agents35_ex34.yaml │ │ │ ├── map_100by100_obst50_agents35_ex35.yaml │ │ │ ├── map_100by100_obst50_agents35_ex36.yaml │ │ │ ├── map_100by100_obst50_agents35_ex37.yaml │ │ │ ├── map_100by100_obst50_agents35_ex38.yaml │ │ │ ├── map_100by100_obst50_agents35_ex39.yaml │ │ │ ├── map_100by100_obst50_agents35_ex4.yaml │ │ │ ├── map_100by100_obst50_agents35_ex40.yaml │ │ │ ├── map_100by100_obst50_agents35_ex41.yaml │ │ │ ├── map_100by100_obst50_agents35_ex42.yaml │ │ │ ├── map_100by100_obst50_agents35_ex43.yaml │ │ │ ├── map_100by100_obst50_agents35_ex44.yaml │ │ │ ├── map_100by100_obst50_agents35_ex45.yaml │ │ │ ├── map_100by100_obst50_agents35_ex46.yaml │ │ │ ├── map_100by100_obst50_agents35_ex47.yaml │ │ │ ├── map_100by100_obst50_agents35_ex48.yaml │ │ │ ├── map_100by100_obst50_agents35_ex49.yaml │ │ │ ├── map_100by100_obst50_agents35_ex5.yaml │ │ │ ├── map_100by100_obst50_agents35_ex50.yaml │ │ │ ├── map_100by100_obst50_agents35_ex51.yaml │ │ │ ├── map_100by100_obst50_agents35_ex52.yaml │ │ │ ├── map_100by100_obst50_agents35_ex53.yaml │ │ │ ├── map_100by100_obst50_agents35_ex54.yaml │ │ │ ├── map_100by100_obst50_agents35_ex55.yaml │ │ │ ├── map_100by100_obst50_agents35_ex56.yaml │ │ │ ├── map_100by100_obst50_agents35_ex57.yaml │ │ │ ├── map_100by100_obst50_agents35_ex58.yaml │ │ │ ├── map_100by100_obst50_agents35_ex59.yaml │ │ │ ├── map_100by100_obst50_agents35_ex6.yaml │ │ │ ├── map_100by100_obst50_agents35_ex7.yaml │ │ │ ├── map_100by100_obst50_agents35_ex8.yaml │ │ │ └── map_100by100_obst50_agents35_ex9.yaml │ ├── agents40 │ │ ├── empty │ │ │ ├── map_100by100_obst0_agents40_ex0.yaml │ │ │ ├── map_100by100_obst0_agents40_ex1.yaml │ │ │ ├── map_100by100_obst0_agents40_ex10.yaml │ │ │ ├── map_100by100_obst0_agents40_ex11.yaml │ │ │ ├── map_100by100_obst0_agents40_ex12.yaml │ │ │ ├── map_100by100_obst0_agents40_ex13.yaml │ │ │ ├── map_100by100_obst0_agents40_ex14.yaml │ │ │ ├── map_100by100_obst0_agents40_ex15.yaml │ │ │ ├── map_100by100_obst0_agents40_ex16.yaml │ │ │ ├── map_100by100_obst0_agents40_ex17.yaml │ │ │ ├── map_100by100_obst0_agents40_ex18.yaml │ │ │ ├── map_100by100_obst0_agents40_ex19.yaml │ │ │ ├── map_100by100_obst0_agents40_ex2.yaml │ │ │ ├── map_100by100_obst0_agents40_ex20.yaml │ │ │ ├── map_100by100_obst0_agents40_ex21.yaml │ │ │ ├── map_100by100_obst0_agents40_ex22.yaml │ │ │ ├── map_100by100_obst0_agents40_ex23.yaml │ │ │ ├── map_100by100_obst0_agents40_ex24.yaml │ │ │ ├── map_100by100_obst0_agents40_ex25.yaml │ │ │ ├── map_100by100_obst0_agents40_ex26.yaml │ │ │ ├── map_100by100_obst0_agents40_ex27.yaml │ │ │ ├── map_100by100_obst0_agents40_ex28.yaml │ │ │ ├── map_100by100_obst0_agents40_ex29.yaml │ │ │ ├── map_100by100_obst0_agents40_ex3.yaml │ │ │ ├── map_100by100_obst0_agents40_ex30.yaml │ │ │ ├── map_100by100_obst0_agents40_ex31.yaml │ │ │ ├── map_100by100_obst0_agents40_ex32.yaml │ │ │ ├── map_100by100_obst0_agents40_ex33.yaml │ │ │ ├── map_100by100_obst0_agents40_ex34.yaml │ │ │ ├── map_100by100_obst0_agents40_ex35.yaml │ │ │ ├── map_100by100_obst0_agents40_ex36.yaml │ │ │ ├── map_100by100_obst0_agents40_ex37.yaml │ │ │ ├── map_100by100_obst0_agents40_ex38.yaml │ │ │ ├── map_100by100_obst0_agents40_ex39.yaml │ │ │ ├── map_100by100_obst0_agents40_ex4.yaml │ │ │ ├── map_100by100_obst0_agents40_ex40.yaml │ │ │ ├── map_100by100_obst0_agents40_ex41.yaml │ │ │ ├── map_100by100_obst0_agents40_ex42.yaml │ │ │ ├── map_100by100_obst0_agents40_ex43.yaml │ │ │ ├── map_100by100_obst0_agents40_ex44.yaml │ │ │ ├── map_100by100_obst0_agents40_ex45.yaml │ │ │ ├── map_100by100_obst0_agents40_ex46.yaml │ │ │ ├── map_100by100_obst0_agents40_ex47.yaml │ │ │ ├── map_100by100_obst0_agents40_ex48.yaml │ │ │ ├── map_100by100_obst0_agents40_ex49.yaml │ │ │ ├── map_100by100_obst0_agents40_ex5.yaml │ │ │ ├── map_100by100_obst0_agents40_ex50.yaml │ │ │ ├── map_100by100_obst0_agents40_ex51.yaml │ │ │ ├── map_100by100_obst0_agents40_ex52.yaml │ │ │ ├── map_100by100_obst0_agents40_ex53.yaml │ │ │ ├── map_100by100_obst0_agents40_ex54.yaml │ │ │ ├── map_100by100_obst0_agents40_ex55.yaml │ │ │ ├── map_100by100_obst0_agents40_ex56.yaml │ │ │ ├── map_100by100_obst0_agents40_ex57.yaml │ │ │ ├── map_100by100_obst0_agents40_ex58.yaml │ │ │ ├── map_100by100_obst0_agents40_ex59.yaml │ │ │ ├── map_100by100_obst0_agents40_ex6.yaml │ │ │ ├── map_100by100_obst0_agents40_ex7.yaml │ │ │ ├── map_100by100_obst0_agents40_ex8.yaml │ │ │ └── map_100by100_obst0_agents40_ex9.yaml │ │ └── obstacle │ │ │ ├── map_100by100_obst50_agents40_ex0.yaml │ │ │ ├── map_100by100_obst50_agents40_ex1.yaml │ │ │ ├── map_100by100_obst50_agents40_ex10.yaml │ │ │ ├── map_100by100_obst50_agents40_ex11.yaml │ │ │ ├── map_100by100_obst50_agents40_ex12.yaml │ │ │ ├── map_100by100_obst50_agents40_ex13.yaml │ │ │ ├── map_100by100_obst50_agents40_ex14.yaml │ │ │ ├── map_100by100_obst50_agents40_ex15.yaml │ │ │ ├── map_100by100_obst50_agents40_ex16.yaml │ │ │ ├── map_100by100_obst50_agents40_ex17.yaml │ │ │ ├── map_100by100_obst50_agents40_ex18.yaml │ │ │ ├── map_100by100_obst50_agents40_ex19.yaml │ │ │ ├── map_100by100_obst50_agents40_ex2.yaml │ │ │ ├── map_100by100_obst50_agents40_ex20.yaml │ │ │ ├── map_100by100_obst50_agents40_ex21.yaml │ │ │ ├── map_100by100_obst50_agents40_ex22.yaml │ │ │ ├── map_100by100_obst50_agents40_ex23.yaml │ │ │ ├── map_100by100_obst50_agents40_ex24.yaml │ │ │ ├── map_100by100_obst50_agents40_ex25.yaml │ │ │ ├── map_100by100_obst50_agents40_ex26.yaml │ │ │ ├── map_100by100_obst50_agents40_ex27.yaml │ │ │ ├── map_100by100_obst50_agents40_ex28.yaml │ │ │ ├── map_100by100_obst50_agents40_ex29.yaml │ │ │ ├── map_100by100_obst50_agents40_ex3.yaml │ │ │ ├── map_100by100_obst50_agents40_ex30.yaml │ │ │ ├── map_100by100_obst50_agents40_ex31.yaml │ │ │ ├── map_100by100_obst50_agents40_ex32.yaml │ │ │ ├── map_100by100_obst50_agents40_ex33.yaml │ │ │ ├── map_100by100_obst50_agents40_ex34.yaml │ │ │ ├── map_100by100_obst50_agents40_ex35.yaml │ │ │ ├── map_100by100_obst50_agents40_ex36.yaml │ │ │ ├── map_100by100_obst50_agents40_ex37.yaml │ │ │ ├── map_100by100_obst50_agents40_ex38.yaml │ │ │ ├── map_100by100_obst50_agents40_ex39.yaml │ │ │ ├── map_100by100_obst50_agents40_ex4.yaml │ │ │ ├── map_100by100_obst50_agents40_ex40.yaml │ │ │ ├── map_100by100_obst50_agents40_ex41.yaml │ │ │ ├── map_100by100_obst50_agents40_ex42.yaml │ │ │ ├── map_100by100_obst50_agents40_ex43.yaml │ │ │ ├── map_100by100_obst50_agents40_ex44.yaml │ │ │ ├── map_100by100_obst50_agents40_ex45.yaml │ │ │ ├── map_100by100_obst50_agents40_ex46.yaml │ │ │ ├── map_100by100_obst50_agents40_ex47.yaml │ │ │ ├── map_100by100_obst50_agents40_ex48.yaml │ │ │ ├── map_100by100_obst50_agents40_ex49.yaml │ │ │ ├── map_100by100_obst50_agents40_ex5.yaml │ │ │ ├── map_100by100_obst50_agents40_ex50.yaml │ │ │ ├── map_100by100_obst50_agents40_ex51.yaml │ │ │ ├── map_100by100_obst50_agents40_ex52.yaml │ │ │ ├── map_100by100_obst50_agents40_ex53.yaml │ │ │ ├── map_100by100_obst50_agents40_ex54.yaml │ │ │ ├── map_100by100_obst50_agents40_ex55.yaml │ │ │ ├── map_100by100_obst50_agents40_ex56.yaml │ │ │ ├── map_100by100_obst50_agents40_ex57.yaml │ │ │ ├── map_100by100_obst50_agents40_ex58.yaml │ │ │ ├── map_100by100_obst50_agents40_ex59.yaml │ │ │ ├── map_100by100_obst50_agents40_ex6.yaml │ │ │ ├── map_100by100_obst50_agents40_ex7.yaml │ │ │ ├── map_100by100_obst50_agents40_ex8.yaml │ │ │ └── map_100by100_obst50_agents40_ex9.yaml │ ├── agents50 │ │ ├── empty │ │ │ ├── map_100by100_obst0_agents50_ex0.yaml │ │ │ ├── map_100by100_obst0_agents50_ex1.yaml │ │ │ ├── map_100by100_obst0_agents50_ex10.yaml │ │ │ ├── map_100by100_obst0_agents50_ex11.yaml │ │ │ ├── map_100by100_obst0_agents50_ex12.yaml │ │ │ ├── map_100by100_obst0_agents50_ex13.yaml │ │ │ ├── map_100by100_obst0_agents50_ex14.yaml │ │ │ ├── map_100by100_obst0_agents50_ex15.yaml │ │ │ ├── map_100by100_obst0_agents50_ex16.yaml │ │ │ ├── map_100by100_obst0_agents50_ex17.yaml │ │ │ ├── map_100by100_obst0_agents50_ex18.yaml │ │ │ ├── map_100by100_obst0_agents50_ex19.yaml │ │ │ ├── map_100by100_obst0_agents50_ex2.yaml │ │ │ ├── map_100by100_obst0_agents50_ex20.yaml │ │ │ ├── map_100by100_obst0_agents50_ex21.yaml │ │ │ ├── map_100by100_obst0_agents50_ex22.yaml │ │ │ ├── map_100by100_obst0_agents50_ex23.yaml │ │ │ ├── map_100by100_obst0_agents50_ex24.yaml │ │ │ ├── map_100by100_obst0_agents50_ex25.yaml │ │ │ ├── map_100by100_obst0_agents50_ex26.yaml │ │ │ ├── map_100by100_obst0_agents50_ex27.yaml │ │ │ ├── map_100by100_obst0_agents50_ex28.yaml │ │ │ ├── map_100by100_obst0_agents50_ex29.yaml │ │ │ ├── map_100by100_obst0_agents50_ex3.yaml │ │ │ ├── map_100by100_obst0_agents50_ex30.yaml │ │ │ ├── map_100by100_obst0_agents50_ex31.yaml │ │ │ ├── map_100by100_obst0_agents50_ex32.yaml │ │ │ ├── map_100by100_obst0_agents50_ex33.yaml │ │ │ ├── map_100by100_obst0_agents50_ex34.yaml │ │ │ ├── map_100by100_obst0_agents50_ex35.yaml │ │ │ ├── map_100by100_obst0_agents50_ex36.yaml │ │ │ ├── map_100by100_obst0_agents50_ex37.yaml │ │ │ ├── map_100by100_obst0_agents50_ex38.yaml │ │ │ ├── map_100by100_obst0_agents50_ex39.yaml │ │ │ ├── map_100by100_obst0_agents50_ex4.yaml │ │ │ ├── map_100by100_obst0_agents50_ex40.yaml │ │ │ ├── map_100by100_obst0_agents50_ex41.yaml │ │ │ ├── map_100by100_obst0_agents50_ex42.yaml │ │ │ ├── map_100by100_obst0_agents50_ex43.yaml │ │ │ ├── map_100by100_obst0_agents50_ex44.yaml │ │ │ ├── map_100by100_obst0_agents50_ex45.yaml │ │ │ ├── map_100by100_obst0_agents50_ex46.yaml │ │ │ ├── map_100by100_obst0_agents50_ex47.yaml │ │ │ ├── map_100by100_obst0_agents50_ex48.yaml │ │ │ ├── map_100by100_obst0_agents50_ex49.yaml │ │ │ ├── map_100by100_obst0_agents50_ex5.yaml │ │ │ ├── map_100by100_obst0_agents50_ex50.yaml │ │ │ ├── map_100by100_obst0_agents50_ex51.yaml │ │ │ ├── map_100by100_obst0_agents50_ex52.yaml │ │ │ ├── map_100by100_obst0_agents50_ex53.yaml │ │ │ ├── map_100by100_obst0_agents50_ex54.yaml │ │ │ ├── map_100by100_obst0_agents50_ex55.yaml │ │ │ ├── map_100by100_obst0_agents50_ex56.yaml │ │ │ ├── map_100by100_obst0_agents50_ex57.yaml │ │ │ ├── map_100by100_obst0_agents50_ex58.yaml │ │ │ ├── map_100by100_obst0_agents50_ex59.yaml │ │ │ ├── map_100by100_obst0_agents50_ex6.yaml │ │ │ ├── map_100by100_obst0_agents50_ex7.yaml │ │ │ ├── map_100by100_obst0_agents50_ex8.yaml │ │ │ └── map_100by100_obst0_agents50_ex9.yaml │ │ └── obstacle │ │ │ ├── map_100by100_obst50_agents50_ex0.yaml │ │ │ ├── map_100by100_obst50_agents50_ex1.yaml │ │ │ ├── map_100by100_obst50_agents50_ex10.yaml │ │ │ ├── map_100by100_obst50_agents50_ex11.yaml │ │ │ ├── map_100by100_obst50_agents50_ex12.yaml │ │ │ ├── map_100by100_obst50_agents50_ex13.yaml │ │ │ ├── map_100by100_obst50_agents50_ex14.yaml │ │ │ ├── map_100by100_obst50_agents50_ex15.yaml │ │ │ ├── map_100by100_obst50_agents50_ex16.yaml │ │ │ ├── map_100by100_obst50_agents50_ex17.yaml │ │ │ ├── map_100by100_obst50_agents50_ex18.yaml │ │ │ ├── map_100by100_obst50_agents50_ex19.yaml │ │ │ ├── map_100by100_obst50_agents50_ex2.yaml │ │ │ ├── map_100by100_obst50_agents50_ex20.yaml │ │ │ ├── map_100by100_obst50_agents50_ex21.yaml │ │ │ ├── map_100by100_obst50_agents50_ex22.yaml │ │ │ ├── map_100by100_obst50_agents50_ex23.yaml │ │ │ ├── map_100by100_obst50_agents50_ex24.yaml │ │ │ ├── map_100by100_obst50_agents50_ex25.yaml │ │ │ ├── map_100by100_obst50_agents50_ex26.yaml │ │ │ ├── map_100by100_obst50_agents50_ex27.yaml │ │ │ ├── map_100by100_obst50_agents50_ex28.yaml │ │ │ ├── map_100by100_obst50_agents50_ex29.yaml │ │ │ ├── map_100by100_obst50_agents50_ex3.yaml │ │ │ ├── map_100by100_obst50_agents50_ex30.yaml │ │ │ ├── map_100by100_obst50_agents50_ex31.yaml │ │ │ ├── map_100by100_obst50_agents50_ex32.yaml │ │ │ ├── map_100by100_obst50_agents50_ex33.yaml │ │ │ ├── map_100by100_obst50_agents50_ex34.yaml │ │ │ ├── map_100by100_obst50_agents50_ex35.yaml │ │ │ ├── map_100by100_obst50_agents50_ex36.yaml │ │ │ ├── map_100by100_obst50_agents50_ex37.yaml │ │ │ ├── map_100by100_obst50_agents50_ex38.yaml │ │ │ ├── map_100by100_obst50_agents50_ex39.yaml │ │ │ ├── map_100by100_obst50_agents50_ex4.yaml │ │ │ ├── map_100by100_obst50_agents50_ex40.yaml │ │ │ ├── map_100by100_obst50_agents50_ex41.yaml │ │ │ ├── map_100by100_obst50_agents50_ex42.yaml │ │ │ ├── map_100by100_obst50_agents50_ex43.yaml │ │ │ ├── map_100by100_obst50_agents50_ex44.yaml │ │ │ ├── map_100by100_obst50_agents50_ex45.yaml │ │ │ ├── map_100by100_obst50_agents50_ex46.yaml │ │ │ ├── map_100by100_obst50_agents50_ex47.yaml │ │ │ ├── map_100by100_obst50_agents50_ex48.yaml │ │ │ ├── map_100by100_obst50_agents50_ex49.yaml │ │ │ ├── map_100by100_obst50_agents50_ex5.yaml │ │ │ ├── map_100by100_obst50_agents50_ex50.yaml │ │ │ ├── map_100by100_obst50_agents50_ex51.yaml │ │ │ ├── map_100by100_obst50_agents50_ex52.yaml │ │ │ ├── map_100by100_obst50_agents50_ex53.yaml │ │ │ ├── map_100by100_obst50_agents50_ex54.yaml │ │ │ ├── map_100by100_obst50_agents50_ex55.yaml │ │ │ ├── map_100by100_obst50_agents50_ex56.yaml │ │ │ ├── map_100by100_obst50_agents50_ex57.yaml │ │ │ ├── map_100by100_obst50_agents50_ex58.yaml │ │ │ ├── map_100by100_obst50_agents50_ex59.yaml │ │ │ ├── map_100by100_obst50_agents50_ex6.yaml │ │ │ ├── map_100by100_obst50_agents50_ex7.yaml │ │ │ ├── map_100by100_obst50_agents50_ex8.yaml │ │ │ └── map_100by100_obst50_agents50_ex9.yaml │ ├── agents60 │ │ ├── empty │ │ │ ├── map_100by100_obst0_agents60_ex0.yaml │ │ │ ├── map_100by100_obst0_agents60_ex1.yaml │ │ │ ├── map_100by100_obst0_agents60_ex10.yaml │ │ │ ├── map_100by100_obst0_agents60_ex11.yaml │ │ │ ├── map_100by100_obst0_agents60_ex12.yaml │ │ │ ├── map_100by100_obst0_agents60_ex13.yaml │ │ │ ├── map_100by100_obst0_agents60_ex14.yaml │ │ │ ├── map_100by100_obst0_agents60_ex15.yaml │ │ │ ├── map_100by100_obst0_agents60_ex16.yaml │ │ │ ├── map_100by100_obst0_agents60_ex17.yaml │ │ │ ├── map_100by100_obst0_agents60_ex18.yaml │ │ │ ├── map_100by100_obst0_agents60_ex19.yaml │ │ │ ├── map_100by100_obst0_agents60_ex2.yaml │ │ │ ├── map_100by100_obst0_agents60_ex20.yaml │ │ │ ├── map_100by100_obst0_agents60_ex21.yaml │ │ │ ├── map_100by100_obst0_agents60_ex22.yaml │ │ │ ├── map_100by100_obst0_agents60_ex23.yaml │ │ │ ├── map_100by100_obst0_agents60_ex24.yaml │ │ │ ├── map_100by100_obst0_agents60_ex25.yaml │ │ │ ├── map_100by100_obst0_agents60_ex26.yaml │ │ │ ├── map_100by100_obst0_agents60_ex27.yaml │ │ │ ├── map_100by100_obst0_agents60_ex28.yaml │ │ │ ├── map_100by100_obst0_agents60_ex29.yaml │ │ │ ├── map_100by100_obst0_agents60_ex3.yaml │ │ │ ├── map_100by100_obst0_agents60_ex30.yaml │ │ │ ├── map_100by100_obst0_agents60_ex31.yaml │ │ │ ├── map_100by100_obst0_agents60_ex32.yaml │ │ │ ├── map_100by100_obst0_agents60_ex33.yaml │ │ │ ├── map_100by100_obst0_agents60_ex34.yaml │ │ │ ├── map_100by100_obst0_agents60_ex35.yaml │ │ │ ├── map_100by100_obst0_agents60_ex36.yaml │ │ │ ├── map_100by100_obst0_agents60_ex37.yaml │ │ │ ├── map_100by100_obst0_agents60_ex38.yaml │ │ │ ├── map_100by100_obst0_agents60_ex39.yaml │ │ │ ├── map_100by100_obst0_agents60_ex4.yaml │ │ │ ├── map_100by100_obst0_agents60_ex40.yaml │ │ │ ├── map_100by100_obst0_agents60_ex41.yaml │ │ │ ├── map_100by100_obst0_agents60_ex42.yaml │ │ │ ├── map_100by100_obst0_agents60_ex43.yaml │ │ │ ├── map_100by100_obst0_agents60_ex44.yaml │ │ │ ├── map_100by100_obst0_agents60_ex45.yaml │ │ │ ├── map_100by100_obst0_agents60_ex46.yaml │ │ │ ├── map_100by100_obst0_agents60_ex47.yaml │ │ │ ├── map_100by100_obst0_agents60_ex48.yaml │ │ │ ├── map_100by100_obst0_agents60_ex49.yaml │ │ │ ├── map_100by100_obst0_agents60_ex5.yaml │ │ │ ├── map_100by100_obst0_agents60_ex50.yaml │ │ │ ├── map_100by100_obst0_agents60_ex51.yaml │ │ │ ├── map_100by100_obst0_agents60_ex52.yaml │ │ │ ├── map_100by100_obst0_agents60_ex53.yaml │ │ │ ├── map_100by100_obst0_agents60_ex54.yaml │ │ │ ├── map_100by100_obst0_agents60_ex55.yaml │ │ │ ├── map_100by100_obst0_agents60_ex56.yaml │ │ │ ├── map_100by100_obst0_agents60_ex57.yaml │ │ │ ├── map_100by100_obst0_agents60_ex58.yaml │ │ │ ├── map_100by100_obst0_agents60_ex59.yaml │ │ │ ├── map_100by100_obst0_agents60_ex6.yaml │ │ │ ├── map_100by100_obst0_agents60_ex7.yaml │ │ │ ├── map_100by100_obst0_agents60_ex8.yaml │ │ │ └── map_100by100_obst0_agents60_ex9.yaml │ │ └── obstacle │ │ │ ├── map_100by100_obst50_agents60_ex0.yaml │ │ │ ├── map_100by100_obst50_agents60_ex1.yaml │ │ │ ├── map_100by100_obst50_agents60_ex10.yaml │ │ │ ├── map_100by100_obst50_agents60_ex11.yaml │ │ │ ├── map_100by100_obst50_agents60_ex12.yaml │ │ │ ├── map_100by100_obst50_agents60_ex13.yaml │ │ │ ├── map_100by100_obst50_agents60_ex14.yaml │ │ │ ├── map_100by100_obst50_agents60_ex15.yaml │ │ │ ├── map_100by100_obst50_agents60_ex16.yaml │ │ │ ├── map_100by100_obst50_agents60_ex17.yaml │ │ │ ├── map_100by100_obst50_agents60_ex18.yaml │ │ │ ├── map_100by100_obst50_agents60_ex19.yaml │ │ │ ├── map_100by100_obst50_agents60_ex2.yaml │ │ │ ├── map_100by100_obst50_agents60_ex20.yaml │ │ │ ├── map_100by100_obst50_agents60_ex21.yaml │ │ │ ├── map_100by100_obst50_agents60_ex22.yaml │ │ │ ├── map_100by100_obst50_agents60_ex23.yaml │ │ │ ├── map_100by100_obst50_agents60_ex24.yaml │ │ │ ├── map_100by100_obst50_agents60_ex25.yaml │ │ │ ├── map_100by100_obst50_agents60_ex26.yaml │ │ │ ├── map_100by100_obst50_agents60_ex27.yaml │ │ │ ├── map_100by100_obst50_agents60_ex28.yaml │ │ │ ├── map_100by100_obst50_agents60_ex29.yaml │ │ │ ├── map_100by100_obst50_agents60_ex3.yaml │ │ │ ├── map_100by100_obst50_agents60_ex30.yaml │ │ │ ├── map_100by100_obst50_agents60_ex31.yaml │ │ │ ├── map_100by100_obst50_agents60_ex32.yaml │ │ │ ├── map_100by100_obst50_agents60_ex33.yaml │ │ │ ├── map_100by100_obst50_agents60_ex34.yaml │ │ │ ├── map_100by100_obst50_agents60_ex35.yaml │ │ │ ├── map_100by100_obst50_agents60_ex36.yaml │ │ │ ├── map_100by100_obst50_agents60_ex37.yaml │ │ │ ├── map_100by100_obst50_agents60_ex38.yaml │ │ │ ├── map_100by100_obst50_agents60_ex39.yaml │ │ │ ├── map_100by100_obst50_agents60_ex4.yaml │ │ │ ├── map_100by100_obst50_agents60_ex40.yaml │ │ │ ├── map_100by100_obst50_agents60_ex41.yaml │ │ │ ├── map_100by100_obst50_agents60_ex42.yaml │ │ │ ├── map_100by100_obst50_agents60_ex43.yaml │ │ │ ├── map_100by100_obst50_agents60_ex44.yaml │ │ │ ├── map_100by100_obst50_agents60_ex45.yaml │ │ │ ├── map_100by100_obst50_agents60_ex46.yaml │ │ │ ├── map_100by100_obst50_agents60_ex47.yaml │ │ │ ├── map_100by100_obst50_agents60_ex48.yaml │ │ │ ├── map_100by100_obst50_agents60_ex49.yaml │ │ │ ├── map_100by100_obst50_agents60_ex5.yaml │ │ │ ├── map_100by100_obst50_agents60_ex50.yaml │ │ │ ├── map_100by100_obst50_agents60_ex51.yaml │ │ │ ├── map_100by100_obst50_agents60_ex52.yaml │ │ │ ├── map_100by100_obst50_agents60_ex53.yaml │ │ │ ├── map_100by100_obst50_agents60_ex54.yaml │ │ │ ├── map_100by100_obst50_agents60_ex55.yaml │ │ │ ├── map_100by100_obst50_agents60_ex56.yaml │ │ │ ├── map_100by100_obst50_agents60_ex57.yaml │ │ │ ├── map_100by100_obst50_agents60_ex58.yaml │ │ │ ├── map_100by100_obst50_agents60_ex59.yaml │ │ │ ├── map_100by100_obst50_agents60_ex6.yaml │ │ │ ├── map_100by100_obst50_agents60_ex7.yaml │ │ │ ├── map_100by100_obst50_agents60_ex8.yaml │ │ │ └── map_100by100_obst50_agents60_ex9.yaml │ ├── agents70 │ │ ├── empty │ │ │ ├── map_100by100_obst0_agents70_ex0.yaml │ │ │ ├── map_100by100_obst0_agents70_ex1.yaml │ │ │ ├── map_100by100_obst0_agents70_ex10.yaml │ │ │ ├── map_100by100_obst0_agents70_ex11.yaml │ │ │ ├── map_100by100_obst0_agents70_ex12.yaml │ │ │ ├── map_100by100_obst0_agents70_ex13.yaml │ │ │ ├── map_100by100_obst0_agents70_ex14.yaml │ │ │ ├── map_100by100_obst0_agents70_ex15.yaml │ │ │ ├── map_100by100_obst0_agents70_ex16.yaml │ │ │ ├── map_100by100_obst0_agents70_ex17.yaml │ │ │ ├── map_100by100_obst0_agents70_ex18.yaml │ │ │ ├── map_100by100_obst0_agents70_ex19.yaml │ │ │ ├── map_100by100_obst0_agents70_ex2.yaml │ │ │ ├── map_100by100_obst0_agents70_ex20.yaml │ │ │ ├── map_100by100_obst0_agents70_ex21.yaml │ │ │ ├── map_100by100_obst0_agents70_ex22.yaml │ │ │ ├── map_100by100_obst0_agents70_ex23.yaml │ │ │ ├── map_100by100_obst0_agents70_ex24.yaml │ │ │ ├── map_100by100_obst0_agents70_ex25.yaml │ │ │ ├── map_100by100_obst0_agents70_ex26.yaml │ │ │ ├── map_100by100_obst0_agents70_ex27.yaml │ │ │ ├── map_100by100_obst0_agents70_ex28.yaml │ │ │ ├── map_100by100_obst0_agents70_ex29.yaml │ │ │ ├── map_100by100_obst0_agents70_ex3.yaml │ │ │ ├── map_100by100_obst0_agents70_ex30.yaml │ │ │ ├── map_100by100_obst0_agents70_ex31.yaml │ │ │ ├── map_100by100_obst0_agents70_ex32.yaml │ │ │ ├── map_100by100_obst0_agents70_ex33.yaml │ │ │ ├── map_100by100_obst0_agents70_ex34.yaml │ │ │ ├── map_100by100_obst0_agents70_ex35.yaml │ │ │ ├── map_100by100_obst0_agents70_ex36.yaml │ │ │ ├── map_100by100_obst0_agents70_ex37.yaml │ │ │ ├── map_100by100_obst0_agents70_ex38.yaml │ │ │ ├── map_100by100_obst0_agents70_ex39.yaml │ │ │ ├── map_100by100_obst0_agents70_ex4.yaml │ │ │ ├── map_100by100_obst0_agents70_ex40.yaml │ │ │ ├── map_100by100_obst0_agents70_ex41.yaml │ │ │ ├── map_100by100_obst0_agents70_ex42.yaml │ │ │ ├── map_100by100_obst0_agents70_ex43.yaml │ │ │ ├── map_100by100_obst0_agents70_ex44.yaml │ │ │ ├── map_100by100_obst0_agents70_ex45.yaml │ │ │ ├── map_100by100_obst0_agents70_ex46.yaml │ │ │ ├── map_100by100_obst0_agents70_ex47.yaml │ │ │ ├── map_100by100_obst0_agents70_ex48.yaml │ │ │ ├── map_100by100_obst0_agents70_ex49.yaml │ │ │ ├── map_100by100_obst0_agents70_ex5.yaml │ │ │ ├── map_100by100_obst0_agents70_ex50.yaml │ │ │ ├── map_100by100_obst0_agents70_ex51.yaml │ │ │ ├── map_100by100_obst0_agents70_ex52.yaml │ │ │ ├── map_100by100_obst0_agents70_ex53.yaml │ │ │ ├── map_100by100_obst0_agents70_ex54.yaml │ │ │ ├── map_100by100_obst0_agents70_ex55.yaml │ │ │ ├── map_100by100_obst0_agents70_ex56.yaml │ │ │ ├── map_100by100_obst0_agents70_ex57.yaml │ │ │ ├── map_100by100_obst0_agents70_ex58.yaml │ │ │ ├── map_100by100_obst0_agents70_ex59.yaml │ │ │ ├── map_100by100_obst0_agents70_ex6.yaml │ │ │ ├── map_100by100_obst0_agents70_ex7.yaml │ │ │ ├── map_100by100_obst0_agents70_ex8.yaml │ │ │ └── map_100by100_obst0_agents70_ex9.yaml │ │ └── obstacle │ │ │ ├── map_100by100_obst50_agents70_ex0.yaml │ │ │ ├── map_100by100_obst50_agents70_ex1.yaml │ │ │ ├── map_100by100_obst50_agents70_ex10.yaml │ │ │ ├── map_100by100_obst50_agents70_ex11.yaml │ │ │ ├── map_100by100_obst50_agents70_ex12.yaml │ │ │ ├── map_100by100_obst50_agents70_ex13.yaml │ │ │ ├── map_100by100_obst50_agents70_ex14.yaml │ │ │ ├── map_100by100_obst50_agents70_ex15.yaml │ │ │ ├── map_100by100_obst50_agents70_ex16.yaml │ │ │ ├── map_100by100_obst50_agents70_ex17.yaml │ │ │ ├── map_100by100_obst50_agents70_ex18.yaml │ │ │ ├── map_100by100_obst50_agents70_ex19.yaml │ │ │ ├── map_100by100_obst50_agents70_ex2.yaml │ │ │ ├── map_100by100_obst50_agents70_ex20.yaml │ │ │ ├── map_100by100_obst50_agents70_ex21.yaml │ │ │ ├── map_100by100_obst50_agents70_ex22.yaml │ │ │ ├── map_100by100_obst50_agents70_ex23.yaml │ │ │ ├── map_100by100_obst50_agents70_ex24.yaml │ │ │ ├── map_100by100_obst50_agents70_ex25.yaml │ │ │ ├── map_100by100_obst50_agents70_ex26.yaml │ │ │ ├── map_100by100_obst50_agents70_ex27.yaml │ │ │ ├── map_100by100_obst50_agents70_ex28.yaml │ │ │ ├── map_100by100_obst50_agents70_ex29.yaml │ │ │ ├── map_100by100_obst50_agents70_ex3.yaml │ │ │ ├── map_100by100_obst50_agents70_ex30.yaml │ │ │ ├── map_100by100_obst50_agents70_ex31.yaml │ │ │ ├── map_100by100_obst50_agents70_ex32.yaml │ │ │ ├── map_100by100_obst50_agents70_ex33.yaml │ │ │ ├── map_100by100_obst50_agents70_ex34.yaml │ │ │ ├── map_100by100_obst50_agents70_ex35.yaml │ │ │ ├── map_100by100_obst50_agents70_ex36.yaml │ │ │ ├── map_100by100_obst50_agents70_ex37.yaml │ │ │ ├── map_100by100_obst50_agents70_ex38.yaml │ │ │ ├── map_100by100_obst50_agents70_ex39.yaml │ │ │ ├── map_100by100_obst50_agents70_ex4.yaml │ │ │ ├── map_100by100_obst50_agents70_ex40.yaml │ │ │ ├── map_100by100_obst50_agents70_ex41.yaml │ │ │ ├── map_100by100_obst50_agents70_ex42.yaml │ │ │ ├── map_100by100_obst50_agents70_ex43.yaml │ │ │ ├── map_100by100_obst50_agents70_ex44.yaml │ │ │ ├── map_100by100_obst50_agents70_ex45.yaml │ │ │ ├── map_100by100_obst50_agents70_ex46.yaml │ │ │ ├── map_100by100_obst50_agents70_ex47.yaml │ │ │ ├── map_100by100_obst50_agents70_ex48.yaml │ │ │ ├── map_100by100_obst50_agents70_ex49.yaml │ │ │ ├── map_100by100_obst50_agents70_ex5.yaml │ │ │ ├── map_100by100_obst50_agents70_ex50.yaml │ │ │ ├── map_100by100_obst50_agents70_ex51.yaml │ │ │ ├── map_100by100_obst50_agents70_ex52.yaml │ │ │ ├── map_100by100_obst50_agents70_ex53.yaml │ │ │ ├── map_100by100_obst50_agents70_ex54.yaml │ │ │ ├── map_100by100_obst50_agents70_ex55.yaml │ │ │ ├── map_100by100_obst50_agents70_ex56.yaml │ │ │ ├── map_100by100_obst50_agents70_ex57.yaml │ │ │ ├── map_100by100_obst50_agents70_ex58.yaml │ │ │ ├── map_100by100_obst50_agents70_ex59.yaml │ │ │ ├── map_100by100_obst50_agents70_ex6.yaml │ │ │ ├── map_100by100_obst50_agents70_ex7.yaml │ │ │ ├── map_100by100_obst50_agents70_ex8.yaml │ │ │ └── map_100by100_obst50_agents70_ex9.yaml │ ├── agents80 │ │ ├── empty │ │ │ ├── map_100by100_obst0_agents80_ex0.yaml │ │ │ ├── map_100by100_obst0_agents80_ex1.yaml │ │ │ ├── map_100by100_obst0_agents80_ex10.yaml │ │ │ ├── map_100by100_obst0_agents80_ex11.yaml │ │ │ ├── map_100by100_obst0_agents80_ex12.yaml │ │ │ ├── map_100by100_obst0_agents80_ex13.yaml │ │ │ ├── map_100by100_obst0_agents80_ex14.yaml │ │ │ ├── map_100by100_obst0_agents80_ex15.yaml │ │ │ ├── map_100by100_obst0_agents80_ex16.yaml │ │ │ ├── map_100by100_obst0_agents80_ex17.yaml │ │ │ ├── map_100by100_obst0_agents80_ex18.yaml │ │ │ ├── map_100by100_obst0_agents80_ex19.yaml │ │ │ ├── map_100by100_obst0_agents80_ex2.yaml │ │ │ ├── map_100by100_obst0_agents80_ex20.yaml │ │ │ ├── map_100by100_obst0_agents80_ex21.yaml │ │ │ ├── map_100by100_obst0_agents80_ex22.yaml │ │ │ ├── map_100by100_obst0_agents80_ex23.yaml │ │ │ ├── map_100by100_obst0_agents80_ex24.yaml │ │ │ ├── map_100by100_obst0_agents80_ex25.yaml │ │ │ ├── map_100by100_obst0_agents80_ex26.yaml │ │ │ ├── map_100by100_obst0_agents80_ex27.yaml │ │ │ ├── map_100by100_obst0_agents80_ex28.yaml │ │ │ ├── map_100by100_obst0_agents80_ex29.yaml │ │ │ ├── map_100by100_obst0_agents80_ex3.yaml │ │ │ ├── map_100by100_obst0_agents80_ex30.yaml │ │ │ ├── map_100by100_obst0_agents80_ex31.yaml │ │ │ ├── map_100by100_obst0_agents80_ex32.yaml │ │ │ ├── map_100by100_obst0_agents80_ex33.yaml │ │ │ ├── map_100by100_obst0_agents80_ex34.yaml │ │ │ ├── map_100by100_obst0_agents80_ex35.yaml │ │ │ ├── map_100by100_obst0_agents80_ex36.yaml │ │ │ ├── map_100by100_obst0_agents80_ex37.yaml │ │ │ ├── map_100by100_obst0_agents80_ex38.yaml │ │ │ ├── map_100by100_obst0_agents80_ex39.yaml │ │ │ ├── map_100by100_obst0_agents80_ex4.yaml │ │ │ ├── map_100by100_obst0_agents80_ex40.yaml │ │ │ ├── map_100by100_obst0_agents80_ex41.yaml │ │ │ ├── map_100by100_obst0_agents80_ex42.yaml │ │ │ ├── map_100by100_obst0_agents80_ex43.yaml │ │ │ ├── map_100by100_obst0_agents80_ex44.yaml │ │ │ ├── map_100by100_obst0_agents80_ex45.yaml │ │ │ ├── map_100by100_obst0_agents80_ex46.yaml │ │ │ ├── map_100by100_obst0_agents80_ex47.yaml │ │ │ ├── map_100by100_obst0_agents80_ex48.yaml │ │ │ ├── map_100by100_obst0_agents80_ex49.yaml │ │ │ ├── map_100by100_obst0_agents80_ex5.yaml │ │ │ ├── map_100by100_obst0_agents80_ex50.yaml │ │ │ ├── map_100by100_obst0_agents80_ex51.yaml │ │ │ ├── map_100by100_obst0_agents80_ex52.yaml │ │ │ ├── map_100by100_obst0_agents80_ex53.yaml │ │ │ ├── map_100by100_obst0_agents80_ex54.yaml │ │ │ ├── map_100by100_obst0_agents80_ex55.yaml │ │ │ ├── map_100by100_obst0_agents80_ex56.yaml │ │ │ ├── map_100by100_obst0_agents80_ex57.yaml │ │ │ ├── map_100by100_obst0_agents80_ex58.yaml │ │ │ ├── map_100by100_obst0_agents80_ex59.yaml │ │ │ ├── map_100by100_obst0_agents80_ex6.yaml │ │ │ ├── map_100by100_obst0_agents80_ex7.yaml │ │ │ ├── map_100by100_obst0_agents80_ex8.yaml │ │ │ └── map_100by100_obst0_agents80_ex9.yaml │ │ └── obstacle │ │ │ ├── map_100by100_obst50_agents80_ex0.yaml │ │ │ ├── map_100by100_obst50_agents80_ex1.yaml │ │ │ ├── map_100by100_obst50_agents80_ex10.yaml │ │ │ ├── map_100by100_obst50_agents80_ex11.yaml │ │ │ ├── map_100by100_obst50_agents80_ex12.yaml │ │ │ ├── map_100by100_obst50_agents80_ex13.yaml │ │ │ ├── map_100by100_obst50_agents80_ex14.yaml │ │ │ ├── map_100by100_obst50_agents80_ex15.yaml │ │ │ ├── map_100by100_obst50_agents80_ex16.yaml │ │ │ ├── map_100by100_obst50_agents80_ex17.yaml │ │ │ ├── map_100by100_obst50_agents80_ex18.yaml │ │ │ ├── map_100by100_obst50_agents80_ex19.yaml │ │ │ ├── map_100by100_obst50_agents80_ex2.yaml │ │ │ ├── map_100by100_obst50_agents80_ex20.yaml │ │ │ ├── map_100by100_obst50_agents80_ex21.yaml │ │ │ ├── map_100by100_obst50_agents80_ex22.yaml │ │ │ ├── map_100by100_obst50_agents80_ex23.yaml │ │ │ ├── map_100by100_obst50_agents80_ex24.yaml │ │ │ ├── map_100by100_obst50_agents80_ex25.yaml │ │ │ ├── map_100by100_obst50_agents80_ex26.yaml │ │ │ ├── map_100by100_obst50_agents80_ex27.yaml │ │ │ ├── map_100by100_obst50_agents80_ex28.yaml │ │ │ ├── map_100by100_obst50_agents80_ex29.yaml │ │ │ ├── map_100by100_obst50_agents80_ex3.yaml │ │ │ ├── map_100by100_obst50_agents80_ex30.yaml │ │ │ ├── map_100by100_obst50_agents80_ex31.yaml │ │ │ ├── map_100by100_obst50_agents80_ex32.yaml │ │ │ ├── map_100by100_obst50_agents80_ex33.yaml │ │ │ ├── map_100by100_obst50_agents80_ex34.yaml │ │ │ ├── map_100by100_obst50_agents80_ex35.yaml │ │ │ ├── map_100by100_obst50_agents80_ex36.yaml │ │ │ ├── map_100by100_obst50_agents80_ex37.yaml │ │ │ ├── map_100by100_obst50_agents80_ex38.yaml │ │ │ ├── map_100by100_obst50_agents80_ex39.yaml │ │ │ ├── map_100by100_obst50_agents80_ex4.yaml │ │ │ ├── map_100by100_obst50_agents80_ex40.yaml │ │ │ ├── map_100by100_obst50_agents80_ex41.yaml │ │ │ ├── map_100by100_obst50_agents80_ex42.yaml │ │ │ ├── map_100by100_obst50_agents80_ex43.yaml │ │ │ ├── map_100by100_obst50_agents80_ex44.yaml │ │ │ ├── map_100by100_obst50_agents80_ex45.yaml │ │ │ ├── map_100by100_obst50_agents80_ex46.yaml │ │ │ ├── map_100by100_obst50_agents80_ex47.yaml │ │ │ ├── map_100by100_obst50_agents80_ex48.yaml │ │ │ ├── map_100by100_obst50_agents80_ex49.yaml │ │ │ ├── map_100by100_obst50_agents80_ex5.yaml │ │ │ ├── map_100by100_obst50_agents80_ex50.yaml │ │ │ ├── map_100by100_obst50_agents80_ex51.yaml │ │ │ ├── map_100by100_obst50_agents80_ex52.yaml │ │ │ ├── map_100by100_obst50_agents80_ex53.yaml │ │ │ ├── map_100by100_obst50_agents80_ex54.yaml │ │ │ ├── map_100by100_obst50_agents80_ex55.yaml │ │ │ ├── map_100by100_obst50_agents80_ex56.yaml │ │ │ ├── map_100by100_obst50_agents80_ex57.yaml │ │ │ ├── map_100by100_obst50_agents80_ex58.yaml │ │ │ ├── map_100by100_obst50_agents80_ex59.yaml │ │ │ ├── map_100by100_obst50_agents80_ex6.yaml │ │ │ ├── map_100by100_obst50_agents80_ex7.yaml │ │ │ ├── map_100by100_obst50_agents80_ex8.yaml │ │ │ └── map_100by100_obst50_agents80_ex9.yaml │ └── agents90 │ │ ├── empty │ │ ├── map_100by100_obst0_agents90_ex0.yaml │ │ ├── map_100by100_obst0_agents90_ex1.yaml │ │ ├── map_100by100_obst0_agents90_ex10.yaml │ │ ├── map_100by100_obst0_agents90_ex11.yaml │ │ ├── map_100by100_obst0_agents90_ex12.yaml │ │ ├── map_100by100_obst0_agents90_ex13.yaml │ │ ├── map_100by100_obst0_agents90_ex14.yaml │ │ ├── map_100by100_obst0_agents90_ex15.yaml │ │ ├── map_100by100_obst0_agents90_ex16.yaml │ │ ├── map_100by100_obst0_agents90_ex17.yaml │ │ ├── map_100by100_obst0_agents90_ex18.yaml │ │ ├── map_100by100_obst0_agents90_ex19.yaml │ │ ├── map_100by100_obst0_agents90_ex2.yaml │ │ ├── map_100by100_obst0_agents90_ex20.yaml │ │ ├── map_100by100_obst0_agents90_ex21.yaml │ │ ├── map_100by100_obst0_agents90_ex22.yaml │ │ ├── map_100by100_obst0_agents90_ex23.yaml │ │ ├── map_100by100_obst0_agents90_ex24.yaml │ │ ├── map_100by100_obst0_agents90_ex25.yaml │ │ ├── map_100by100_obst0_agents90_ex26.yaml │ │ ├── map_100by100_obst0_agents90_ex27.yaml │ │ ├── map_100by100_obst0_agents90_ex28.yaml │ │ ├── map_100by100_obst0_agents90_ex29.yaml │ │ ├── map_100by100_obst0_agents90_ex3.yaml │ │ ├── map_100by100_obst0_agents90_ex30.yaml │ │ ├── map_100by100_obst0_agents90_ex31.yaml │ │ ├── map_100by100_obst0_agents90_ex32.yaml │ │ ├── map_100by100_obst0_agents90_ex33.yaml │ │ ├── map_100by100_obst0_agents90_ex34.yaml │ │ ├── map_100by100_obst0_agents90_ex35.yaml │ │ ├── map_100by100_obst0_agents90_ex36.yaml │ │ ├── map_100by100_obst0_agents90_ex37.yaml │ │ ├── map_100by100_obst0_agents90_ex38.yaml │ │ ├── map_100by100_obst0_agents90_ex39.yaml │ │ ├── map_100by100_obst0_agents90_ex4.yaml │ │ ├── map_100by100_obst0_agents90_ex40.yaml │ │ ├── map_100by100_obst0_agents90_ex41.yaml │ │ ├── map_100by100_obst0_agents90_ex42.yaml │ │ ├── map_100by100_obst0_agents90_ex43.yaml │ │ ├── map_100by100_obst0_agents90_ex44.yaml │ │ ├── map_100by100_obst0_agents90_ex45.yaml │ │ ├── map_100by100_obst0_agents90_ex46.yaml │ │ ├── map_100by100_obst0_agents90_ex47.yaml │ │ ├── map_100by100_obst0_agents90_ex48.yaml │ │ ├── map_100by100_obst0_agents90_ex49.yaml │ │ ├── map_100by100_obst0_agents90_ex5.yaml │ │ ├── map_100by100_obst0_agents90_ex50.yaml │ │ ├── map_100by100_obst0_agents90_ex51.yaml │ │ ├── map_100by100_obst0_agents90_ex52.yaml │ │ ├── map_100by100_obst0_agents90_ex53.yaml │ │ ├── map_100by100_obst0_agents90_ex54.yaml │ │ ├── map_100by100_obst0_agents90_ex55.yaml │ │ ├── map_100by100_obst0_agents90_ex56.yaml │ │ ├── map_100by100_obst0_agents90_ex57.yaml │ │ ├── map_100by100_obst0_agents90_ex58.yaml │ │ ├── map_100by100_obst0_agents90_ex59.yaml │ │ ├── map_100by100_obst0_agents90_ex6.yaml │ │ ├── map_100by100_obst0_agents90_ex7.yaml │ │ ├── map_100by100_obst0_agents90_ex8.yaml │ │ └── map_100by100_obst0_agents90_ex9.yaml │ │ └── obstacle │ │ ├── map_100by100_obst50_agents90_ex0.yaml │ │ ├── map_100by100_obst50_agents90_ex1.yaml │ │ ├── map_100by100_obst50_agents90_ex10.yaml │ │ ├── map_100by100_obst50_agents90_ex11.yaml │ │ ├── map_100by100_obst50_agents90_ex12.yaml │ │ ├── map_100by100_obst50_agents90_ex13.yaml │ │ ├── map_100by100_obst50_agents90_ex14.yaml │ │ ├── map_100by100_obst50_agents90_ex15.yaml │ │ ├── map_100by100_obst50_agents90_ex16.yaml │ │ ├── map_100by100_obst50_agents90_ex17.yaml │ │ ├── map_100by100_obst50_agents90_ex18.yaml │ │ ├── map_100by100_obst50_agents90_ex19.yaml │ │ ├── map_100by100_obst50_agents90_ex2.yaml │ │ ├── map_100by100_obst50_agents90_ex20.yaml │ │ ├── map_100by100_obst50_agents90_ex21.yaml │ │ ├── map_100by100_obst50_agents90_ex22.yaml │ │ ├── map_100by100_obst50_agents90_ex23.yaml │ │ ├── map_100by100_obst50_agents90_ex24.yaml │ │ ├── map_100by100_obst50_agents90_ex25.yaml │ │ ├── map_100by100_obst50_agents90_ex26.yaml │ │ ├── map_100by100_obst50_agents90_ex27.yaml │ │ ├── map_100by100_obst50_agents90_ex28.yaml │ │ ├── map_100by100_obst50_agents90_ex29.yaml │ │ ├── map_100by100_obst50_agents90_ex3.yaml │ │ ├── map_100by100_obst50_agents90_ex30.yaml │ │ ├── map_100by100_obst50_agents90_ex31.yaml │ │ ├── map_100by100_obst50_agents90_ex32.yaml │ │ ├── map_100by100_obst50_agents90_ex33.yaml │ │ ├── map_100by100_obst50_agents90_ex34.yaml │ │ ├── map_100by100_obst50_agents90_ex35.yaml │ │ ├── map_100by100_obst50_agents90_ex36.yaml │ │ ├── map_100by100_obst50_agents90_ex37.yaml │ │ ├── map_100by100_obst50_agents90_ex38.yaml │ │ ├── map_100by100_obst50_agents90_ex39.yaml │ │ ├── map_100by100_obst50_agents90_ex4.yaml │ │ ├── map_100by100_obst50_agents90_ex40.yaml │ │ ├── map_100by100_obst50_agents90_ex41.yaml │ │ ├── map_100by100_obst50_agents90_ex42.yaml │ │ ├── map_100by100_obst50_agents90_ex43.yaml │ │ ├── map_100by100_obst50_agents90_ex44.yaml │ │ ├── map_100by100_obst50_agents90_ex45.yaml │ │ ├── map_100by100_obst50_agents90_ex46.yaml │ │ ├── map_100by100_obst50_agents90_ex47.yaml │ │ ├── map_100by100_obst50_agents90_ex48.yaml │ │ ├── map_100by100_obst50_agents90_ex49.yaml │ │ ├── map_100by100_obst50_agents90_ex5.yaml │ │ ├── map_100by100_obst50_agents90_ex50.yaml │ │ ├── map_100by100_obst50_agents90_ex51.yaml │ │ ├── map_100by100_obst50_agents90_ex52.yaml │ │ ├── map_100by100_obst50_agents90_ex53.yaml │ │ ├── map_100by100_obst50_agents90_ex54.yaml │ │ ├── map_100by100_obst50_agents90_ex55.yaml │ │ ├── map_100by100_obst50_agents90_ex56.yaml │ │ ├── map_100by100_obst50_agents90_ex57.yaml │ │ ├── map_100by100_obst50_agents90_ex58.yaml │ │ ├── map_100by100_obst50_agents90_ex59.yaml │ │ ├── map_100by100_obst50_agents90_ex6.yaml │ │ ├── map_100by100_obst50_agents90_ex7.yaml │ │ ├── map_100by100_obst50_agents90_ex8.yaml │ │ └── map_100by100_obst50_agents90_ex9.yaml ├── map50by50 │ ├── agents10 │ │ ├── empty │ │ │ ├── map_50by50_obst0_agents10_ex0.yaml │ │ │ ├── map_50by50_obst0_agents10_ex1.yaml │ │ │ ├── map_50by50_obst0_agents10_ex10.yaml │ │ │ ├── map_50by50_obst0_agents10_ex11.yaml │ │ │ ├── map_50by50_obst0_agents10_ex12.yaml │ │ │ ├── map_50by50_obst0_agents10_ex13.yaml │ │ │ ├── map_50by50_obst0_agents10_ex14.yaml │ │ │ ├── map_50by50_obst0_agents10_ex15.yaml │ │ │ ├── map_50by50_obst0_agents10_ex16.yaml │ │ │ ├── map_50by50_obst0_agents10_ex17.yaml │ │ │ ├── map_50by50_obst0_agents10_ex18.yaml │ │ │ ├── map_50by50_obst0_agents10_ex19.yaml │ │ │ ├── map_50by50_obst0_agents10_ex2.yaml │ │ │ ├── map_50by50_obst0_agents10_ex20.yaml │ │ │ ├── map_50by50_obst0_agents10_ex21.yaml │ │ │ ├── map_50by50_obst0_agents10_ex22.yaml │ │ │ ├── map_50by50_obst0_agents10_ex23.yaml │ │ │ ├── map_50by50_obst0_agents10_ex24.yaml │ │ │ ├── map_50by50_obst0_agents10_ex25.yaml │ │ │ ├── map_50by50_obst0_agents10_ex26.yaml │ │ │ ├── map_50by50_obst0_agents10_ex27.yaml │ │ │ ├── map_50by50_obst0_agents10_ex28.yaml │ │ │ ├── map_50by50_obst0_agents10_ex29.yaml │ │ │ ├── map_50by50_obst0_agents10_ex3.yaml │ │ │ ├── map_50by50_obst0_agents10_ex30.yaml │ │ │ ├── map_50by50_obst0_agents10_ex31.yaml │ │ │ ├── map_50by50_obst0_agents10_ex32.yaml │ │ │ ├── map_50by50_obst0_agents10_ex33.yaml │ │ │ ├── map_50by50_obst0_agents10_ex34.yaml │ │ │ ├── map_50by50_obst0_agents10_ex35.yaml │ │ │ ├── map_50by50_obst0_agents10_ex36.yaml │ │ │ ├── map_50by50_obst0_agents10_ex37.yaml │ │ │ ├── map_50by50_obst0_agents10_ex38.yaml │ │ │ ├── map_50by50_obst0_agents10_ex39.yaml │ │ │ ├── map_50by50_obst0_agents10_ex4.yaml │ │ │ ├── map_50by50_obst0_agents10_ex40.yaml │ │ │ ├── map_50by50_obst0_agents10_ex41.yaml │ │ │ ├── map_50by50_obst0_agents10_ex42.yaml │ │ │ ├── map_50by50_obst0_agents10_ex43.yaml │ │ │ ├── map_50by50_obst0_agents10_ex44.yaml │ │ │ ├── map_50by50_obst0_agents10_ex45.yaml │ │ │ ├── map_50by50_obst0_agents10_ex46.yaml │ │ │ ├── map_50by50_obst0_agents10_ex47.yaml │ │ │ ├── map_50by50_obst0_agents10_ex48.yaml │ │ │ ├── map_50by50_obst0_agents10_ex49.yaml │ │ │ ├── map_50by50_obst0_agents10_ex5.yaml │ │ │ ├── map_50by50_obst0_agents10_ex50.yaml │ │ │ ├── map_50by50_obst0_agents10_ex51.yaml │ │ │ ├── map_50by50_obst0_agents10_ex52.yaml │ │ │ ├── map_50by50_obst0_agents10_ex53.yaml │ │ │ ├── map_50by50_obst0_agents10_ex54.yaml │ │ │ ├── map_50by50_obst0_agents10_ex55.yaml │ │ │ ├── map_50by50_obst0_agents10_ex56.yaml │ │ │ ├── map_50by50_obst0_agents10_ex57.yaml │ │ │ ├── map_50by50_obst0_agents10_ex58.yaml │ │ │ ├── map_50by50_obst0_agents10_ex59.yaml │ │ │ ├── map_50by50_obst0_agents10_ex6.yaml │ │ │ ├── map_50by50_obst0_agents10_ex7.yaml │ │ │ ├── map_50by50_obst0_agents10_ex8.yaml │ │ │ └── map_50by50_obst0_agents10_ex9.yaml │ │ └── obstacle │ │ │ ├── map_50by50_obst25_agents10_ex0.yaml │ │ │ ├── map_50by50_obst25_agents10_ex1.yaml │ │ │ ├── map_50by50_obst25_agents10_ex10.yaml │ │ │ ├── map_50by50_obst25_agents10_ex11.yaml │ │ │ ├── map_50by50_obst25_agents10_ex12.yaml │ │ │ ├── map_50by50_obst25_agents10_ex13.yaml │ │ │ ├── map_50by50_obst25_agents10_ex14.yaml │ │ │ ├── map_50by50_obst25_agents10_ex15.yaml │ │ │ ├── map_50by50_obst25_agents10_ex16.yaml │ │ │ ├── map_50by50_obst25_agents10_ex17.yaml │ │ │ ├── map_50by50_obst25_agents10_ex18.yaml │ │ │ ├── map_50by50_obst25_agents10_ex19.yaml │ │ │ ├── map_50by50_obst25_agents10_ex2.yaml │ │ │ ├── map_50by50_obst25_agents10_ex20.yaml │ │ │ ├── map_50by50_obst25_agents10_ex21.yaml │ │ │ ├── map_50by50_obst25_agents10_ex22.yaml │ │ │ ├── map_50by50_obst25_agents10_ex23.yaml │ │ │ ├── map_50by50_obst25_agents10_ex24.yaml │ │ │ ├── map_50by50_obst25_agents10_ex25.yaml │ │ │ ├── map_50by50_obst25_agents10_ex26.yaml │ │ │ ├── map_50by50_obst25_agents10_ex27.yaml │ │ │ ├── map_50by50_obst25_agents10_ex28.yaml │ │ │ ├── map_50by50_obst25_agents10_ex29.yaml │ │ │ ├── map_50by50_obst25_agents10_ex3.yaml │ │ │ ├── map_50by50_obst25_agents10_ex30.yaml │ │ │ ├── map_50by50_obst25_agents10_ex31.yaml │ │ │ ├── map_50by50_obst25_agents10_ex32.yaml │ │ │ ├── map_50by50_obst25_agents10_ex33.yaml │ │ │ ├── map_50by50_obst25_agents10_ex34.yaml │ │ │ ├── map_50by50_obst25_agents10_ex35.yaml │ │ │ ├── map_50by50_obst25_agents10_ex36.yaml │ │ │ ├── map_50by50_obst25_agents10_ex37.yaml │ │ │ ├── map_50by50_obst25_agents10_ex38.yaml │ │ │ ├── map_50by50_obst25_agents10_ex39.yaml │ │ │ ├── map_50by50_obst25_agents10_ex4.yaml │ │ │ ├── map_50by50_obst25_agents10_ex40.yaml │ │ │ ├── map_50by50_obst25_agents10_ex41.yaml │ │ │ ├── map_50by50_obst25_agents10_ex42.yaml │ │ │ ├── map_50by50_obst25_agents10_ex43.yaml │ │ │ ├── map_50by50_obst25_agents10_ex44.yaml │ │ │ ├── map_50by50_obst25_agents10_ex45.yaml │ │ │ ├── map_50by50_obst25_agents10_ex46.yaml │ │ │ ├── map_50by50_obst25_agents10_ex47.yaml │ │ │ ├── map_50by50_obst25_agents10_ex48.yaml │ │ │ ├── map_50by50_obst25_agents10_ex49.yaml │ │ │ ├── map_50by50_obst25_agents10_ex5.yaml │ │ │ ├── map_50by50_obst25_agents10_ex50.yaml │ │ │ ├── map_50by50_obst25_agents10_ex51.yaml │ │ │ ├── map_50by50_obst25_agents10_ex52.yaml │ │ │ ├── map_50by50_obst25_agents10_ex53.yaml │ │ │ ├── map_50by50_obst25_agents10_ex54.yaml │ │ │ ├── map_50by50_obst25_agents10_ex55.yaml │ │ │ ├── map_50by50_obst25_agents10_ex56.yaml │ │ │ ├── map_50by50_obst25_agents10_ex57.yaml │ │ │ ├── map_50by50_obst25_agents10_ex58.yaml │ │ │ ├── map_50by50_obst25_agents10_ex59.yaml │ │ │ ├── map_50by50_obst25_agents10_ex6.yaml │ │ │ ├── map_50by50_obst25_agents10_ex7.yaml │ │ │ ├── map_50by50_obst25_agents10_ex8.yaml │ │ │ └── map_50by50_obst25_agents10_ex9.yaml │ ├── agents15 │ │ ├── empty │ │ │ ├── map_50by50_obst0_agents15_ex0.yaml │ │ │ ├── map_50by50_obst0_agents15_ex1.yaml │ │ │ ├── map_50by50_obst0_agents15_ex10.yaml │ │ │ ├── map_50by50_obst0_agents15_ex11.yaml │ │ │ ├── map_50by50_obst0_agents15_ex12.yaml │ │ │ ├── map_50by50_obst0_agents15_ex13.yaml │ │ │ ├── map_50by50_obst0_agents15_ex14.yaml │ │ │ ├── map_50by50_obst0_agents15_ex15.yaml │ │ │ ├── map_50by50_obst0_agents15_ex16.yaml │ │ │ ├── map_50by50_obst0_agents15_ex17.yaml │ │ │ ├── map_50by50_obst0_agents15_ex18.yaml │ │ │ ├── map_50by50_obst0_agents15_ex19.yaml │ │ │ ├── map_50by50_obst0_agents15_ex2.yaml │ │ │ ├── map_50by50_obst0_agents15_ex20.yaml │ │ │ ├── map_50by50_obst0_agents15_ex21.yaml │ │ │ ├── map_50by50_obst0_agents15_ex22.yaml │ │ │ ├── map_50by50_obst0_agents15_ex23.yaml │ │ │ ├── map_50by50_obst0_agents15_ex24.yaml │ │ │ ├── map_50by50_obst0_agents15_ex25.yaml │ │ │ ├── map_50by50_obst0_agents15_ex26.yaml │ │ │ ├── map_50by50_obst0_agents15_ex27.yaml │ │ │ ├── map_50by50_obst0_agents15_ex28.yaml │ │ │ ├── map_50by50_obst0_agents15_ex29.yaml │ │ │ ├── map_50by50_obst0_agents15_ex3.yaml │ │ │ ├── map_50by50_obst0_agents15_ex30.yaml │ │ │ ├── map_50by50_obst0_agents15_ex31.yaml │ │ │ ├── map_50by50_obst0_agents15_ex32.yaml │ │ │ ├── map_50by50_obst0_agents15_ex33.yaml │ │ │ ├── map_50by50_obst0_agents15_ex34.yaml │ │ │ ├── map_50by50_obst0_agents15_ex35.yaml │ │ │ ├── map_50by50_obst0_agents15_ex36.yaml │ │ │ ├── map_50by50_obst0_agents15_ex37.yaml │ │ │ ├── map_50by50_obst0_agents15_ex38.yaml │ │ │ ├── map_50by50_obst0_agents15_ex39.yaml │ │ │ ├── map_50by50_obst0_agents15_ex4.yaml │ │ │ ├── map_50by50_obst0_agents15_ex40.yaml │ │ │ ├── map_50by50_obst0_agents15_ex41.yaml │ │ │ ├── map_50by50_obst0_agents15_ex42.yaml │ │ │ ├── map_50by50_obst0_agents15_ex43.yaml │ │ │ ├── map_50by50_obst0_agents15_ex44.yaml │ │ │ ├── map_50by50_obst0_agents15_ex45.yaml │ │ │ ├── map_50by50_obst0_agents15_ex46.yaml │ │ │ ├── map_50by50_obst0_agents15_ex47.yaml │ │ │ ├── map_50by50_obst0_agents15_ex48.yaml │ │ │ ├── map_50by50_obst0_agents15_ex49.yaml │ │ │ ├── map_50by50_obst0_agents15_ex5.yaml │ │ │ ├── map_50by50_obst0_agents15_ex50.yaml │ │ │ ├── map_50by50_obst0_agents15_ex51.yaml │ │ │ ├── map_50by50_obst0_agents15_ex52.yaml │ │ │ ├── map_50by50_obst0_agents15_ex53.yaml │ │ │ ├── map_50by50_obst0_agents15_ex54.yaml │ │ │ ├── map_50by50_obst0_agents15_ex55.yaml │ │ │ ├── map_50by50_obst0_agents15_ex56.yaml │ │ │ ├── map_50by50_obst0_agents15_ex57.yaml │ │ │ ├── map_50by50_obst0_agents15_ex58.yaml │ │ │ ├── map_50by50_obst0_agents15_ex59.yaml │ │ │ ├── map_50by50_obst0_agents15_ex6.yaml │ │ │ ├── map_50by50_obst0_agents15_ex7.yaml │ │ │ ├── map_50by50_obst0_agents15_ex8.yaml │ │ │ └── map_50by50_obst0_agents15_ex9.yaml │ │ └── obstacle │ │ │ ├── map_50by50_obst25_agents15_ex0.yaml │ │ │ ├── map_50by50_obst25_agents15_ex1.yaml │ │ │ ├── map_50by50_obst25_agents15_ex10.yaml │ │ │ ├── map_50by50_obst25_agents15_ex11.yaml │ │ │ ├── map_50by50_obst25_agents15_ex12.yaml │ │ │ ├── map_50by50_obst25_agents15_ex13.yaml │ │ │ ├── map_50by50_obst25_agents15_ex14.yaml │ │ │ ├── map_50by50_obst25_agents15_ex15.yaml │ │ │ ├── map_50by50_obst25_agents15_ex16.yaml │ │ │ ├── map_50by50_obst25_agents15_ex17.yaml │ │ │ ├── map_50by50_obst25_agents15_ex18.yaml │ │ │ ├── map_50by50_obst25_agents15_ex19.yaml │ │ │ ├── map_50by50_obst25_agents15_ex2.yaml │ │ │ ├── map_50by50_obst25_agents15_ex20.yaml │ │ │ ├── map_50by50_obst25_agents15_ex21.yaml │ │ │ ├── map_50by50_obst25_agents15_ex22.yaml │ │ │ ├── map_50by50_obst25_agents15_ex23.yaml │ │ │ ├── map_50by50_obst25_agents15_ex24.yaml │ │ │ ├── map_50by50_obst25_agents15_ex25.yaml │ │ │ ├── map_50by50_obst25_agents15_ex26.yaml │ │ │ ├── map_50by50_obst25_agents15_ex27.yaml │ │ │ ├── map_50by50_obst25_agents15_ex28.yaml │ │ │ ├── map_50by50_obst25_agents15_ex29.yaml │ │ │ ├── map_50by50_obst25_agents15_ex3.yaml │ │ │ ├── map_50by50_obst25_agents15_ex30.yaml │ │ │ ├── map_50by50_obst25_agents15_ex31.yaml │ │ │ ├── map_50by50_obst25_agents15_ex32.yaml │ │ │ ├── map_50by50_obst25_agents15_ex33.yaml │ │ │ ├── map_50by50_obst25_agents15_ex34.yaml │ │ │ ├── map_50by50_obst25_agents15_ex35.yaml │ │ │ ├── map_50by50_obst25_agents15_ex36.yaml │ │ │ ├── map_50by50_obst25_agents15_ex37.yaml │ │ │ ├── map_50by50_obst25_agents15_ex38.yaml │ │ │ ├── map_50by50_obst25_agents15_ex39.yaml │ │ │ ├── map_50by50_obst25_agents15_ex4.yaml │ │ │ ├── map_50by50_obst25_agents15_ex40.yaml │ │ │ ├── map_50by50_obst25_agents15_ex41.yaml │ │ │ ├── map_50by50_obst25_agents15_ex42.yaml │ │ │ ├── map_50by50_obst25_agents15_ex43.yaml │ │ │ ├── map_50by50_obst25_agents15_ex44.yaml │ │ │ ├── map_50by50_obst25_agents15_ex45.yaml │ │ │ ├── map_50by50_obst25_agents15_ex46.yaml │ │ │ ├── map_50by50_obst25_agents15_ex47.yaml │ │ │ ├── map_50by50_obst25_agents15_ex48.yaml │ │ │ ├── map_50by50_obst25_agents15_ex49.yaml │ │ │ ├── map_50by50_obst25_agents15_ex5.yaml │ │ │ ├── map_50by50_obst25_agents15_ex50.yaml │ │ │ ├── map_50by50_obst25_agents15_ex51.yaml │ │ │ ├── map_50by50_obst25_agents15_ex52.yaml │ │ │ ├── map_50by50_obst25_agents15_ex53.yaml │ │ │ ├── map_50by50_obst25_agents15_ex54.yaml │ │ │ ├── map_50by50_obst25_agents15_ex55.yaml │ │ │ ├── map_50by50_obst25_agents15_ex56.yaml │ │ │ ├── map_50by50_obst25_agents15_ex57.yaml │ │ │ ├── map_50by50_obst25_agents15_ex58.yaml │ │ │ ├── map_50by50_obst25_agents15_ex59.yaml │ │ │ ├── map_50by50_obst25_agents15_ex6.yaml │ │ │ ├── map_50by50_obst25_agents15_ex7.yaml │ │ │ ├── map_50by50_obst25_agents15_ex8.yaml │ │ │ └── map_50by50_obst25_agents15_ex9.yaml │ ├── agents20 │ │ ├── empty │ │ │ ├── map_50by50_obst0_agents20_ex0.yaml │ │ │ ├── map_50by50_obst0_agents20_ex1.yaml │ │ │ ├── map_50by50_obst0_agents20_ex10.yaml │ │ │ ├── map_50by50_obst0_agents20_ex11.yaml │ │ │ ├── map_50by50_obst0_agents20_ex12.yaml │ │ │ ├── map_50by50_obst0_agents20_ex13.yaml │ │ │ ├── map_50by50_obst0_agents20_ex14.yaml │ │ │ ├── map_50by50_obst0_agents20_ex15.yaml │ │ │ ├── map_50by50_obst0_agents20_ex16.yaml │ │ │ ├── map_50by50_obst0_agents20_ex17.yaml │ │ │ ├── map_50by50_obst0_agents20_ex18.yaml │ │ │ ├── map_50by50_obst0_agents20_ex19.yaml │ │ │ ├── map_50by50_obst0_agents20_ex2.yaml │ │ │ ├── map_50by50_obst0_agents20_ex20.yaml │ │ │ ├── map_50by50_obst0_agents20_ex21.yaml │ │ │ ├── map_50by50_obst0_agents20_ex22.yaml │ │ │ ├── map_50by50_obst0_agents20_ex23.yaml │ │ │ ├── map_50by50_obst0_agents20_ex24.yaml │ │ │ ├── map_50by50_obst0_agents20_ex25.yaml │ │ │ ├── map_50by50_obst0_agents20_ex26.yaml │ │ │ ├── map_50by50_obst0_agents20_ex27.yaml │ │ │ ├── map_50by50_obst0_agents20_ex28.yaml │ │ │ ├── map_50by50_obst0_agents20_ex29.yaml │ │ │ ├── map_50by50_obst0_agents20_ex3.yaml │ │ │ ├── map_50by50_obst0_agents20_ex30.yaml │ │ │ ├── map_50by50_obst0_agents20_ex31.yaml │ │ │ ├── map_50by50_obst0_agents20_ex32.yaml │ │ │ ├── map_50by50_obst0_agents20_ex33.yaml │ │ │ ├── map_50by50_obst0_agents20_ex34.yaml │ │ │ ├── map_50by50_obst0_agents20_ex35.yaml │ │ │ ├── map_50by50_obst0_agents20_ex36.yaml │ │ │ ├── map_50by50_obst0_agents20_ex37.yaml │ │ │ ├── map_50by50_obst0_agents20_ex38.yaml │ │ │ ├── map_50by50_obst0_agents20_ex39.yaml │ │ │ ├── map_50by50_obst0_agents20_ex4.yaml │ │ │ ├── map_50by50_obst0_agents20_ex40.yaml │ │ │ ├── map_50by50_obst0_agents20_ex41.yaml │ │ │ ├── map_50by50_obst0_agents20_ex42.yaml │ │ │ ├── map_50by50_obst0_agents20_ex43.yaml │ │ │ ├── map_50by50_obst0_agents20_ex44.yaml │ │ │ ├── map_50by50_obst0_agents20_ex45.yaml │ │ │ ├── map_50by50_obst0_agents20_ex46.yaml │ │ │ ├── map_50by50_obst0_agents20_ex47.yaml │ │ │ ├── map_50by50_obst0_agents20_ex48.yaml │ │ │ ├── map_50by50_obst0_agents20_ex49.yaml │ │ │ ├── map_50by50_obst0_agents20_ex5.yaml │ │ │ ├── map_50by50_obst0_agents20_ex50.yaml │ │ │ ├── map_50by50_obst0_agents20_ex51.yaml │ │ │ ├── map_50by50_obst0_agents20_ex52.yaml │ │ │ ├── map_50by50_obst0_agents20_ex53.yaml │ │ │ ├── map_50by50_obst0_agents20_ex54.yaml │ │ │ ├── map_50by50_obst0_agents20_ex55.yaml │ │ │ ├── map_50by50_obst0_agents20_ex56.yaml │ │ │ ├── map_50by50_obst0_agents20_ex57.yaml │ │ │ ├── map_50by50_obst0_agents20_ex58.yaml │ │ │ ├── map_50by50_obst0_agents20_ex59.yaml │ │ │ ├── map_50by50_obst0_agents20_ex6.yaml │ │ │ ├── map_50by50_obst0_agents20_ex7.yaml │ │ │ ├── map_50by50_obst0_agents20_ex8.yaml │ │ │ └── map_50by50_obst0_agents20_ex9.yaml │ │ └── obstacle │ │ │ ├── map_50by50_obst25_agents20_ex0.yaml │ │ │ ├── map_50by50_obst25_agents20_ex1.yaml │ │ │ ├── map_50by50_obst25_agents20_ex10.yaml │ │ │ ├── map_50by50_obst25_agents20_ex11.yaml │ │ │ ├── map_50by50_obst25_agents20_ex12.yaml │ │ │ ├── map_50by50_obst25_agents20_ex13.yaml │ │ │ ├── map_50by50_obst25_agents20_ex14.yaml │ │ │ ├── map_50by50_obst25_agents20_ex15.yaml │ │ │ ├── map_50by50_obst25_agents20_ex16.yaml │ │ │ ├── map_50by50_obst25_agents20_ex17.yaml │ │ │ ├── map_50by50_obst25_agents20_ex18.yaml │ │ │ ├── map_50by50_obst25_agents20_ex19.yaml │ │ │ ├── map_50by50_obst25_agents20_ex2.yaml │ │ │ ├── map_50by50_obst25_agents20_ex20.yaml │ │ │ ├── map_50by50_obst25_agents20_ex21.yaml │ │ │ ├── map_50by50_obst25_agents20_ex22.yaml │ │ │ ├── map_50by50_obst25_agents20_ex23.yaml │ │ │ ├── map_50by50_obst25_agents20_ex24.yaml │ │ │ ├── map_50by50_obst25_agents20_ex25.yaml │ │ │ ├── map_50by50_obst25_agents20_ex26.yaml │ │ │ ├── map_50by50_obst25_agents20_ex27.yaml │ │ │ ├── map_50by50_obst25_agents20_ex28.yaml │ │ │ ├── map_50by50_obst25_agents20_ex29.yaml │ │ │ ├── map_50by50_obst25_agents20_ex3.yaml │ │ │ ├── map_50by50_obst25_agents20_ex30.yaml │ │ │ ├── map_50by50_obst25_agents20_ex31.yaml │ │ │ ├── map_50by50_obst25_agents20_ex32.yaml │ │ │ ├── map_50by50_obst25_agents20_ex33.yaml │ │ │ ├── map_50by50_obst25_agents20_ex34.yaml │ │ │ ├── map_50by50_obst25_agents20_ex35.yaml │ │ │ ├── map_50by50_obst25_agents20_ex36.yaml │ │ │ ├── map_50by50_obst25_agents20_ex37.yaml │ │ │ ├── map_50by50_obst25_agents20_ex38.yaml │ │ │ ├── map_50by50_obst25_agents20_ex39.yaml │ │ │ ├── map_50by50_obst25_agents20_ex4.yaml │ │ │ ├── map_50by50_obst25_agents20_ex40.yaml │ │ │ ├── map_50by50_obst25_agents20_ex41.yaml │ │ │ ├── map_50by50_obst25_agents20_ex42.yaml │ │ │ ├── map_50by50_obst25_agents20_ex43.yaml │ │ │ ├── map_50by50_obst25_agents20_ex44.yaml │ │ │ ├── map_50by50_obst25_agents20_ex45.yaml │ │ │ ├── map_50by50_obst25_agents20_ex46.yaml │ │ │ ├── map_50by50_obst25_agents20_ex47.yaml │ │ │ ├── map_50by50_obst25_agents20_ex48.yaml │ │ │ ├── map_50by50_obst25_agents20_ex49.yaml │ │ │ ├── map_50by50_obst25_agents20_ex5.yaml │ │ │ ├── map_50by50_obst25_agents20_ex50.yaml │ │ │ ├── map_50by50_obst25_agents20_ex51.yaml │ │ │ ├── map_50by50_obst25_agents20_ex52.yaml │ │ │ ├── map_50by50_obst25_agents20_ex53.yaml │ │ │ ├── map_50by50_obst25_agents20_ex54.yaml │ │ │ ├── map_50by50_obst25_agents20_ex55.yaml │ │ │ ├── map_50by50_obst25_agents20_ex56.yaml │ │ │ ├── map_50by50_obst25_agents20_ex57.yaml │ │ │ ├── map_50by50_obst25_agents20_ex58.yaml │ │ │ ├── map_50by50_obst25_agents20_ex59.yaml │ │ │ ├── map_50by50_obst25_agents20_ex6.yaml │ │ │ ├── map_50by50_obst25_agents20_ex7.yaml │ │ │ ├── map_50by50_obst25_agents20_ex8.yaml │ │ │ └── map_50by50_obst25_agents20_ex9.yaml │ ├── agents25 │ │ ├── empty │ │ │ ├── map_50by50_obst0_agents25_ex0.yaml │ │ │ ├── map_50by50_obst0_agents25_ex1.yaml │ │ │ ├── map_50by50_obst0_agents25_ex10.yaml │ │ │ ├── map_50by50_obst0_agents25_ex11.yaml │ │ │ ├── map_50by50_obst0_agents25_ex12.yaml │ │ │ ├── map_50by50_obst0_agents25_ex13.yaml │ │ │ ├── map_50by50_obst0_agents25_ex14.yaml │ │ │ ├── map_50by50_obst0_agents25_ex15.yaml │ │ │ ├── map_50by50_obst0_agents25_ex16.yaml │ │ │ ├── map_50by50_obst0_agents25_ex17.yaml │ │ │ ├── map_50by50_obst0_agents25_ex18.yaml │ │ │ ├── map_50by50_obst0_agents25_ex19.yaml │ │ │ ├── map_50by50_obst0_agents25_ex2.yaml │ │ │ ├── map_50by50_obst0_agents25_ex20.yaml │ │ │ ├── map_50by50_obst0_agents25_ex21.yaml │ │ │ ├── map_50by50_obst0_agents25_ex22.yaml │ │ │ ├── map_50by50_obst0_agents25_ex23.yaml │ │ │ ├── map_50by50_obst0_agents25_ex24.yaml │ │ │ ├── map_50by50_obst0_agents25_ex25.yaml │ │ │ ├── map_50by50_obst0_agents25_ex26.yaml │ │ │ ├── map_50by50_obst0_agents25_ex27.yaml │ │ │ ├── map_50by50_obst0_agents25_ex28.yaml │ │ │ ├── map_50by50_obst0_agents25_ex29.yaml │ │ │ ├── map_50by50_obst0_agents25_ex3.yaml │ │ │ ├── map_50by50_obst0_agents25_ex30.yaml │ │ │ ├── map_50by50_obst0_agents25_ex31.yaml │ │ │ ├── map_50by50_obst0_agents25_ex32.yaml │ │ │ ├── map_50by50_obst0_agents25_ex33.yaml │ │ │ ├── map_50by50_obst0_agents25_ex34.yaml │ │ │ ├── map_50by50_obst0_agents25_ex35.yaml │ │ │ ├── map_50by50_obst0_agents25_ex36.yaml │ │ │ ├── map_50by50_obst0_agents25_ex37.yaml │ │ │ ├── map_50by50_obst0_agents25_ex38.yaml │ │ │ ├── map_50by50_obst0_agents25_ex39.yaml │ │ │ ├── map_50by50_obst0_agents25_ex4.yaml │ │ │ ├── map_50by50_obst0_agents25_ex40.yaml │ │ │ ├── map_50by50_obst0_agents25_ex41.yaml │ │ │ ├── map_50by50_obst0_agents25_ex42.yaml │ │ │ ├── map_50by50_obst0_agents25_ex43.yaml │ │ │ ├── map_50by50_obst0_agents25_ex44.yaml │ │ │ ├── map_50by50_obst0_agents25_ex45.yaml │ │ │ ├── map_50by50_obst0_agents25_ex46.yaml │ │ │ ├── map_50by50_obst0_agents25_ex47.yaml │ │ │ ├── map_50by50_obst0_agents25_ex48.yaml │ │ │ ├── map_50by50_obst0_agents25_ex49.yaml │ │ │ ├── map_50by50_obst0_agents25_ex5.yaml │ │ │ ├── map_50by50_obst0_agents25_ex50.yaml │ │ │ ├── map_50by50_obst0_agents25_ex51.yaml │ │ │ ├── map_50by50_obst0_agents25_ex52.yaml │ │ │ ├── map_50by50_obst0_agents25_ex53.yaml │ │ │ ├── map_50by50_obst0_agents25_ex54.yaml │ │ │ ├── map_50by50_obst0_agents25_ex55.yaml │ │ │ ├── map_50by50_obst0_agents25_ex56.yaml │ │ │ ├── map_50by50_obst0_agents25_ex57.yaml │ │ │ ├── map_50by50_obst0_agents25_ex58.yaml │ │ │ ├── map_50by50_obst0_agents25_ex59.yaml │ │ │ ├── map_50by50_obst0_agents25_ex6.yaml │ │ │ ├── map_50by50_obst0_agents25_ex7.yaml │ │ │ ├── map_50by50_obst0_agents25_ex8.yaml │ │ │ └── map_50by50_obst0_agents25_ex9.yaml │ │ └── obstacle │ │ │ ├── map_50by50_obst25_agents25_ex0.yaml │ │ │ ├── map_50by50_obst25_agents25_ex1.yaml │ │ │ ├── map_50by50_obst25_agents25_ex10.yaml │ │ │ ├── map_50by50_obst25_agents25_ex11.yaml │ │ │ ├── map_50by50_obst25_agents25_ex12.yaml │ │ │ ├── map_50by50_obst25_agents25_ex13.yaml │ │ │ ├── map_50by50_obst25_agents25_ex14.yaml │ │ │ ├── map_50by50_obst25_agents25_ex15.yaml │ │ │ ├── map_50by50_obst25_agents25_ex16.yaml │ │ │ ├── map_50by50_obst25_agents25_ex17.yaml │ │ │ ├── map_50by50_obst25_agents25_ex18.yaml │ │ │ ├── map_50by50_obst25_agents25_ex19.yaml │ │ │ ├── map_50by50_obst25_agents25_ex2.yaml │ │ │ ├── map_50by50_obst25_agents25_ex20.yaml │ │ │ ├── map_50by50_obst25_agents25_ex21.yaml │ │ │ ├── map_50by50_obst25_agents25_ex22.yaml │ │ │ ├── map_50by50_obst25_agents25_ex23.yaml │ │ │ ├── map_50by50_obst25_agents25_ex24.yaml │ │ │ ├── map_50by50_obst25_agents25_ex25.yaml │ │ │ ├── map_50by50_obst25_agents25_ex26.yaml │ │ │ ├── map_50by50_obst25_agents25_ex27.yaml │ │ │ ├── map_50by50_obst25_agents25_ex28.yaml │ │ │ ├── map_50by50_obst25_agents25_ex29.yaml │ │ │ ├── map_50by50_obst25_agents25_ex3.yaml │ │ │ ├── map_50by50_obst25_agents25_ex30.yaml │ │ │ ├── map_50by50_obst25_agents25_ex31.yaml │ │ │ ├── map_50by50_obst25_agents25_ex32.yaml │ │ │ ├── map_50by50_obst25_agents25_ex33.yaml │ │ │ ├── map_50by50_obst25_agents25_ex34.yaml │ │ │ ├── map_50by50_obst25_agents25_ex35.yaml │ │ │ ├── map_50by50_obst25_agents25_ex36.yaml │ │ │ ├── map_50by50_obst25_agents25_ex37.yaml │ │ │ ├── map_50by50_obst25_agents25_ex38.yaml │ │ │ ├── map_50by50_obst25_agents25_ex39.yaml │ │ │ ├── map_50by50_obst25_agents25_ex4.yaml │ │ │ ├── map_50by50_obst25_agents25_ex40.yaml │ │ │ ├── map_50by50_obst25_agents25_ex41.yaml │ │ │ ├── map_50by50_obst25_agents25_ex42.yaml │ │ │ ├── map_50by50_obst25_agents25_ex43.yaml │ │ │ ├── map_50by50_obst25_agents25_ex44.yaml │ │ │ ├── map_50by50_obst25_agents25_ex45.yaml │ │ │ ├── map_50by50_obst25_agents25_ex46.yaml │ │ │ ├── map_50by50_obst25_agents25_ex47.yaml │ │ │ ├── map_50by50_obst25_agents25_ex48.yaml │ │ │ ├── map_50by50_obst25_agents25_ex49.yaml │ │ │ ├── map_50by50_obst25_agents25_ex5.yaml │ │ │ ├── map_50by50_obst25_agents25_ex50.yaml │ │ │ ├── map_50by50_obst25_agents25_ex51.yaml │ │ │ ├── map_50by50_obst25_agents25_ex52.yaml │ │ │ ├── map_50by50_obst25_agents25_ex53.yaml │ │ │ ├── map_50by50_obst25_agents25_ex54.yaml │ │ │ ├── map_50by50_obst25_agents25_ex55.yaml │ │ │ ├── map_50by50_obst25_agents25_ex56.yaml │ │ │ ├── map_50by50_obst25_agents25_ex57.yaml │ │ │ ├── map_50by50_obst25_agents25_ex58.yaml │ │ │ ├── map_50by50_obst25_agents25_ex59.yaml │ │ │ ├── map_50by50_obst25_agents25_ex6.yaml │ │ │ ├── map_50by50_obst25_agents25_ex7.yaml │ │ │ ├── map_50by50_obst25_agents25_ex8.yaml │ │ │ └── map_50by50_obst25_agents25_ex9.yaml │ └── agents5 │ │ ├── empty │ │ ├── map_50by50_obst0_agents5_ex0.yaml │ │ ├── map_50by50_obst0_agents5_ex1.yaml │ │ ├── map_50by50_obst0_agents5_ex10.yaml │ │ ├── map_50by50_obst0_agents5_ex11.yaml │ │ ├── map_50by50_obst0_agents5_ex12.yaml │ │ ├── map_50by50_obst0_agents5_ex13.yaml │ │ ├── map_50by50_obst0_agents5_ex14.yaml │ │ ├── map_50by50_obst0_agents5_ex15.yaml │ │ ├── map_50by50_obst0_agents5_ex16.yaml │ │ ├── map_50by50_obst0_agents5_ex17.yaml │ │ ├── map_50by50_obst0_agents5_ex18.yaml │ │ ├── map_50by50_obst0_agents5_ex19.yaml │ │ ├── map_50by50_obst0_agents5_ex2.yaml │ │ ├── map_50by50_obst0_agents5_ex20.yaml │ │ ├── map_50by50_obst0_agents5_ex21.yaml │ │ ├── map_50by50_obst0_agents5_ex22.yaml │ │ ├── map_50by50_obst0_agents5_ex23.yaml │ │ ├── map_50by50_obst0_agents5_ex24.yaml │ │ ├── map_50by50_obst0_agents5_ex25.yaml │ │ ├── map_50by50_obst0_agents5_ex26.yaml │ │ ├── map_50by50_obst0_agents5_ex27.yaml │ │ ├── map_50by50_obst0_agents5_ex28.yaml │ │ ├── map_50by50_obst0_agents5_ex29.yaml │ │ ├── map_50by50_obst0_agents5_ex3.yaml │ │ ├── map_50by50_obst0_agents5_ex30.yaml │ │ ├── map_50by50_obst0_agents5_ex31.yaml │ │ ├── map_50by50_obst0_agents5_ex32.yaml │ │ ├── map_50by50_obst0_agents5_ex33.yaml │ │ ├── map_50by50_obst0_agents5_ex34.yaml │ │ ├── map_50by50_obst0_agents5_ex35.yaml │ │ ├── map_50by50_obst0_agents5_ex36.yaml │ │ ├── map_50by50_obst0_agents5_ex37.yaml │ │ ├── map_50by50_obst0_agents5_ex38.yaml │ │ ├── map_50by50_obst0_agents5_ex39.yaml │ │ ├── map_50by50_obst0_agents5_ex4.yaml │ │ ├── map_50by50_obst0_agents5_ex40.yaml │ │ ├── map_50by50_obst0_agents5_ex41.yaml │ │ ├── map_50by50_obst0_agents5_ex42.yaml │ │ ├── map_50by50_obst0_agents5_ex43.yaml │ │ ├── map_50by50_obst0_agents5_ex44.yaml │ │ ├── map_50by50_obst0_agents5_ex45.yaml │ │ ├── map_50by50_obst0_agents5_ex46.yaml │ │ ├── map_50by50_obst0_agents5_ex47.yaml │ │ ├── map_50by50_obst0_agents5_ex48.yaml │ │ ├── map_50by50_obst0_agents5_ex49.yaml │ │ ├── map_50by50_obst0_agents5_ex5.yaml │ │ ├── map_50by50_obst0_agents5_ex50.yaml │ │ ├── map_50by50_obst0_agents5_ex51.yaml │ │ ├── map_50by50_obst0_agents5_ex52.yaml │ │ ├── map_50by50_obst0_agents5_ex53.yaml │ │ ├── map_50by50_obst0_agents5_ex54.yaml │ │ ├── map_50by50_obst0_agents5_ex55.yaml │ │ ├── map_50by50_obst0_agents5_ex56.yaml │ │ ├── map_50by50_obst0_agents5_ex57.yaml │ │ ├── map_50by50_obst0_agents5_ex58.yaml │ │ ├── map_50by50_obst0_agents5_ex59.yaml │ │ ├── map_50by50_obst0_agents5_ex6.yaml │ │ ├── map_50by50_obst0_agents5_ex7.yaml │ │ ├── map_50by50_obst0_agents5_ex8.yaml │ │ └── map_50by50_obst0_agents5_ex9.yaml │ │ └── obstacle │ │ ├── map_50by50_obst25_agents5_ex0.yaml │ │ ├── map_50by50_obst25_agents5_ex1.yaml │ │ ├── map_50by50_obst25_agents5_ex10.yaml │ │ ├── map_50by50_obst25_agents5_ex11.yaml │ │ ├── map_50by50_obst25_agents5_ex12.yaml │ │ ├── map_50by50_obst25_agents5_ex13.yaml │ │ ├── map_50by50_obst25_agents5_ex14.yaml │ │ ├── map_50by50_obst25_agents5_ex15.yaml │ │ ├── map_50by50_obst25_agents5_ex16.yaml │ │ ├── map_50by50_obst25_agents5_ex17.yaml │ │ ├── map_50by50_obst25_agents5_ex18.yaml │ │ ├── map_50by50_obst25_agents5_ex19.yaml │ │ ├── map_50by50_obst25_agents5_ex2.yaml │ │ ├── map_50by50_obst25_agents5_ex20.yaml │ │ ├── map_50by50_obst25_agents5_ex21.yaml │ │ ├── map_50by50_obst25_agents5_ex22.yaml │ │ ├── map_50by50_obst25_agents5_ex23.yaml │ │ ├── map_50by50_obst25_agents5_ex24.yaml │ │ ├── map_50by50_obst25_agents5_ex25.yaml │ │ ├── map_50by50_obst25_agents5_ex26.yaml │ │ ├── map_50by50_obst25_agents5_ex27.yaml │ │ ├── map_50by50_obst25_agents5_ex28.yaml │ │ ├── map_50by50_obst25_agents5_ex29.yaml │ │ ├── map_50by50_obst25_agents5_ex3.yaml │ │ ├── map_50by50_obst25_agents5_ex30.yaml │ │ ├── map_50by50_obst25_agents5_ex31.yaml │ │ ├── map_50by50_obst25_agents5_ex32.yaml │ │ ├── map_50by50_obst25_agents5_ex33.yaml │ │ ├── map_50by50_obst25_agents5_ex34.yaml │ │ ├── map_50by50_obst25_agents5_ex35.yaml │ │ ├── map_50by50_obst25_agents5_ex36.yaml │ │ ├── map_50by50_obst25_agents5_ex37.yaml │ │ ├── map_50by50_obst25_agents5_ex38.yaml │ │ ├── map_50by50_obst25_agents5_ex39.yaml │ │ ├── map_50by50_obst25_agents5_ex4.yaml │ │ ├── map_50by50_obst25_agents5_ex40.yaml │ │ ├── map_50by50_obst25_agents5_ex41.yaml │ │ ├── map_50by50_obst25_agents5_ex42.yaml │ │ ├── map_50by50_obst25_agents5_ex43.yaml │ │ ├── map_50by50_obst25_agents5_ex44.yaml │ │ ├── map_50by50_obst25_agents5_ex45.yaml │ │ ├── map_50by50_obst25_agents5_ex46.yaml │ │ ├── map_50by50_obst25_agents5_ex47.yaml │ │ ├── map_50by50_obst25_agents5_ex48.yaml │ │ ├── map_50by50_obst25_agents5_ex49.yaml │ │ ├── map_50by50_obst25_agents5_ex5.yaml │ │ ├── map_50by50_obst25_agents5_ex50.yaml │ │ ├── map_50by50_obst25_agents5_ex51.yaml │ │ ├── map_50by50_obst25_agents5_ex52.yaml │ │ ├── map_50by50_obst25_agents5_ex53.yaml │ │ ├── map_50by50_obst25_agents5_ex54.yaml │ │ ├── map_50by50_obst25_agents5_ex55.yaml │ │ ├── map_50by50_obst25_agents5_ex56.yaml │ │ ├── map_50by50_obst25_agents5_ex57.yaml │ │ ├── map_50by50_obst25_agents5_ex58.yaml │ │ ├── map_50by50_obst25_agents5_ex59.yaml │ │ ├── map_50by50_obst25_agents5_ex6.yaml │ │ ├── map_50by50_obst25_agents5_ex7.yaml │ │ ├── map_50by50_obst25_agents5_ex8.yaml │ │ └── map_50by50_obst25_agents5_ex9.yaml └── room │ ├── agents10 │ ├── map_100by100_agents10_ex0.yaml │ ├── map_100by100_agents10_ex1.yaml │ ├── map_100by100_agents10_ex10.yaml │ ├── map_100by100_agents10_ex11.yaml │ ├── map_100by100_agents10_ex12.yaml │ ├── map_100by100_agents10_ex13.yaml │ ├── map_100by100_agents10_ex14.yaml │ ├── map_100by100_agents10_ex15.yaml │ ├── map_100by100_agents10_ex16.yaml │ ├── map_100by100_agents10_ex17.yaml │ ├── map_100by100_agents10_ex18.yaml │ ├── map_100by100_agents10_ex19.yaml │ ├── map_100by100_agents10_ex2.yaml │ ├── map_100by100_agents10_ex20.yaml │ ├── map_100by100_agents10_ex21.yaml │ ├── map_100by100_agents10_ex22.yaml │ ├── map_100by100_agents10_ex23.yaml │ ├── map_100by100_agents10_ex24.yaml │ ├── map_100by100_agents10_ex25.yaml │ ├── map_100by100_agents10_ex26.yaml │ ├── map_100by100_agents10_ex27.yaml │ ├── map_100by100_agents10_ex28.yaml │ ├── map_100by100_agents10_ex29.yaml │ ├── map_100by100_agents10_ex3.yaml │ ├── map_100by100_agents10_ex30.yaml │ ├── map_100by100_agents10_ex31.yaml │ ├── map_100by100_agents10_ex32.yaml │ ├── map_100by100_agents10_ex33.yaml │ ├── map_100by100_agents10_ex34.yaml │ ├── map_100by100_agents10_ex35.yaml │ ├── map_100by100_agents10_ex36.yaml │ ├── map_100by100_agents10_ex37.yaml │ ├── map_100by100_agents10_ex38.yaml │ ├── map_100by100_agents10_ex39.yaml │ ├── map_100by100_agents10_ex4.yaml │ ├── map_100by100_agents10_ex40.yaml │ ├── map_100by100_agents10_ex41.yaml │ ├── map_100by100_agents10_ex42.yaml │ ├── map_100by100_agents10_ex43.yaml │ ├── map_100by100_agents10_ex44.yaml │ ├── map_100by100_agents10_ex45.yaml │ ├── map_100by100_agents10_ex46.yaml │ ├── map_100by100_agents10_ex47.yaml │ ├── map_100by100_agents10_ex48.yaml │ ├── map_100by100_agents10_ex49.yaml │ ├── map_100by100_agents10_ex5.yaml │ ├── map_100by100_agents10_ex50.yaml │ ├── map_100by100_agents10_ex51.yaml │ ├── map_100by100_agents10_ex52.yaml │ ├── map_100by100_agents10_ex53.yaml │ ├── map_100by100_agents10_ex54.yaml │ ├── map_100by100_agents10_ex55.yaml │ ├── map_100by100_agents10_ex56.yaml │ ├── map_100by100_agents10_ex57.yaml │ ├── map_100by100_agents10_ex58.yaml │ ├── map_100by100_agents10_ex59.yaml │ ├── map_100by100_agents10_ex6.yaml │ ├── map_100by100_agents10_ex7.yaml │ ├── map_100by100_agents10_ex8.yaml │ └── map_100by100_agents10_ex9.yaml │ ├── agents20 │ ├── map_100by100_agents20_ex0.yaml │ ├── map_100by100_agents20_ex1.yaml │ ├── map_100by100_agents20_ex10.yaml │ ├── map_100by100_agents20_ex11.yaml │ ├── map_100by100_agents20_ex12.yaml │ ├── map_100by100_agents20_ex13.yaml │ ├── map_100by100_agents20_ex14.yaml │ ├── map_100by100_agents20_ex15.yaml │ ├── map_100by100_agents20_ex16.yaml │ ├── map_100by100_agents20_ex17.yaml │ ├── map_100by100_agents20_ex18.yaml │ ├── map_100by100_agents20_ex19.yaml │ ├── map_100by100_agents20_ex2.yaml │ ├── map_100by100_agents20_ex20.yaml │ ├── map_100by100_agents20_ex21.yaml │ ├── map_100by100_agents20_ex22.yaml │ ├── map_100by100_agents20_ex23.yaml │ ├── map_100by100_agents20_ex24.yaml │ ├── map_100by100_agents20_ex25.yaml │ ├── map_100by100_agents20_ex26.yaml │ ├── map_100by100_agents20_ex27.yaml │ ├── map_100by100_agents20_ex28.yaml │ ├── map_100by100_agents20_ex29.yaml │ ├── map_100by100_agents20_ex3.yaml │ ├── map_100by100_agents20_ex30.yaml │ ├── map_100by100_agents20_ex31.yaml │ ├── map_100by100_agents20_ex32.yaml │ ├── map_100by100_agents20_ex33.yaml │ ├── map_100by100_agents20_ex34.yaml │ ├── map_100by100_agents20_ex35.yaml │ ├── map_100by100_agents20_ex36.yaml │ ├── map_100by100_agents20_ex37.yaml │ ├── map_100by100_agents20_ex38.yaml │ ├── map_100by100_agents20_ex39.yaml │ ├── map_100by100_agents20_ex4.yaml │ ├── map_100by100_agents20_ex40.yaml │ ├── map_100by100_agents20_ex41.yaml │ ├── map_100by100_agents20_ex42.yaml │ ├── map_100by100_agents20_ex43.yaml │ ├── map_100by100_agents20_ex44.yaml │ ├── map_100by100_agents20_ex45.yaml │ ├── map_100by100_agents20_ex46.yaml │ ├── map_100by100_agents20_ex47.yaml │ ├── map_100by100_agents20_ex48.yaml │ ├── map_100by100_agents20_ex49.yaml │ ├── map_100by100_agents20_ex5.yaml │ ├── map_100by100_agents20_ex50.yaml │ ├── map_100by100_agents20_ex51.yaml │ ├── map_100by100_agents20_ex52.yaml │ ├── map_100by100_agents20_ex53.yaml │ ├── map_100by100_agents20_ex54.yaml │ ├── map_100by100_agents20_ex55.yaml │ ├── map_100by100_agents20_ex56.yaml │ ├── map_100by100_agents20_ex57.yaml │ ├── map_100by100_agents20_ex58.yaml │ ├── map_100by100_agents20_ex59.yaml │ ├── map_100by100_agents20_ex6.yaml │ ├── map_100by100_agents20_ex7.yaml │ ├── map_100by100_agents20_ex8.yaml │ └── map_100by100_agents20_ex9.yaml │ ├── agents30 │ ├── map_100by100_agents30_ex0.yaml │ ├── map_100by100_agents30_ex1.yaml │ ├── map_100by100_agents30_ex10.yaml │ ├── map_100by100_agents30_ex11.yaml │ ├── map_100by100_agents30_ex12.yaml │ ├── map_100by100_agents30_ex13.yaml │ ├── map_100by100_agents30_ex14.yaml │ ├── map_100by100_agents30_ex15.yaml │ ├── map_100by100_agents30_ex16.yaml │ ├── map_100by100_agents30_ex17.yaml │ ├── map_100by100_agents30_ex18.yaml │ ├── map_100by100_agents30_ex19.yaml │ ├── map_100by100_agents30_ex2.yaml │ ├── map_100by100_agents30_ex20.yaml │ ├── map_100by100_agents30_ex21.yaml │ ├── map_100by100_agents30_ex22.yaml │ ├── map_100by100_agents30_ex23.yaml │ ├── map_100by100_agents30_ex24.yaml │ ├── map_100by100_agents30_ex25.yaml │ ├── map_100by100_agents30_ex26.yaml │ ├── map_100by100_agents30_ex27.yaml │ ├── map_100by100_agents30_ex28.yaml │ ├── map_100by100_agents30_ex29.yaml │ ├── map_100by100_agents30_ex3.yaml │ ├── map_100by100_agents30_ex30.yaml │ ├── map_100by100_agents30_ex31.yaml │ ├── map_100by100_agents30_ex32.yaml │ ├── map_100by100_agents30_ex33.yaml │ ├── map_100by100_agents30_ex34.yaml │ ├── map_100by100_agents30_ex35.yaml │ ├── map_100by100_agents30_ex36.yaml │ ├── map_100by100_agents30_ex37.yaml │ ├── map_100by100_agents30_ex38.yaml │ ├── map_100by100_agents30_ex39.yaml │ ├── map_100by100_agents30_ex4.yaml │ ├── map_100by100_agents30_ex40.yaml │ ├── map_100by100_agents30_ex41.yaml │ ├── map_100by100_agents30_ex42.yaml │ ├── map_100by100_agents30_ex43.yaml │ ├── map_100by100_agents30_ex44.yaml │ ├── map_100by100_agents30_ex45.yaml │ ├── map_100by100_agents30_ex46.yaml │ ├── map_100by100_agents30_ex47.yaml │ ├── map_100by100_agents30_ex48.yaml │ ├── map_100by100_agents30_ex49.yaml │ ├── map_100by100_agents30_ex5.yaml │ ├── map_100by100_agents30_ex50.yaml │ ├── map_100by100_agents30_ex51.yaml │ ├── map_100by100_agents30_ex52.yaml │ ├── map_100by100_agents30_ex53.yaml │ ├── map_100by100_agents30_ex54.yaml │ ├── map_100by100_agents30_ex55.yaml │ ├── map_100by100_agents30_ex56.yaml │ ├── map_100by100_agents30_ex57.yaml │ ├── map_100by100_agents30_ex58.yaml │ ├── map_100by100_agents30_ex59.yaml │ ├── map_100by100_agents30_ex6.yaml │ ├── map_100by100_agents30_ex7.yaml │ ├── map_100by100_agents30_ex8.yaml │ └── map_100by100_agents30_ex9.yaml │ ├── agents40 │ ├── map_100by100_agents40_ex0.yaml │ ├── map_100by100_agents40_ex1.yaml │ ├── map_100by100_agents40_ex10.yaml │ ├── map_100by100_agents40_ex11.yaml │ ├── map_100by100_agents40_ex12.yaml │ ├── map_100by100_agents40_ex13.yaml │ ├── map_100by100_agents40_ex14.yaml │ ├── map_100by100_agents40_ex15.yaml │ ├── map_100by100_agents40_ex16.yaml │ ├── map_100by100_agents40_ex17.yaml │ ├── map_100by100_agents40_ex18.yaml │ ├── map_100by100_agents40_ex19.yaml │ ├── map_100by100_agents40_ex2.yaml │ ├── map_100by100_agents40_ex20.yaml │ ├── map_100by100_agents40_ex21.yaml │ ├── map_100by100_agents40_ex22.yaml │ ├── map_100by100_agents40_ex23.yaml │ ├── map_100by100_agents40_ex24.yaml │ ├── map_100by100_agents40_ex25.yaml │ ├── map_100by100_agents40_ex26.yaml │ ├── map_100by100_agents40_ex27.yaml │ ├── map_100by100_agents40_ex28.yaml │ ├── map_100by100_agents40_ex29.yaml │ ├── map_100by100_agents40_ex3.yaml │ ├── map_100by100_agents40_ex30.yaml │ ├── map_100by100_agents40_ex31.yaml │ ├── map_100by100_agents40_ex32.yaml │ ├── map_100by100_agents40_ex33.yaml │ ├── map_100by100_agents40_ex34.yaml │ ├── map_100by100_agents40_ex35.yaml │ ├── map_100by100_agents40_ex36.yaml │ ├── map_100by100_agents40_ex37.yaml │ ├── map_100by100_agents40_ex38.yaml │ ├── map_100by100_agents40_ex39.yaml │ ├── map_100by100_agents40_ex4.yaml │ ├── map_100by100_agents40_ex40.yaml │ ├── map_100by100_agents40_ex41.yaml │ ├── map_100by100_agents40_ex42.yaml │ ├── map_100by100_agents40_ex43.yaml │ ├── map_100by100_agents40_ex44.yaml │ ├── map_100by100_agents40_ex45.yaml │ ├── map_100by100_agents40_ex46.yaml │ ├── map_100by100_agents40_ex47.yaml │ ├── map_100by100_agents40_ex48.yaml │ ├── map_100by100_agents40_ex49.yaml │ ├── map_100by100_agents40_ex5.yaml │ ├── map_100by100_agents40_ex50.yaml │ ├── map_100by100_agents40_ex51.yaml │ ├── map_100by100_agents40_ex52.yaml │ ├── map_100by100_agents40_ex53.yaml │ ├── map_100by100_agents40_ex54.yaml │ ├── map_100by100_agents40_ex55.yaml │ ├── map_100by100_agents40_ex56.yaml │ ├── map_100by100_agents40_ex57.yaml │ ├── map_100by100_agents40_ex58.yaml │ ├── map_100by100_agents40_ex59.yaml │ ├── map_100by100_agents40_ex6.yaml │ ├── map_100by100_agents40_ex7.yaml │ ├── map_100by100_agents40_ex8.yaml │ └── map_100by100_agents40_ex9.yaml │ └── agents50 │ ├── map_100by100_agents50_ex0.yaml │ ├── map_100by100_agents50_ex1.yaml │ ├── map_100by100_agents50_ex10.yaml │ ├── map_100by100_agents50_ex11.yaml │ ├── map_100by100_agents50_ex12.yaml │ ├── map_100by100_agents50_ex13.yaml │ ├── map_100by100_agents50_ex14.yaml │ ├── map_100by100_agents50_ex15.yaml │ ├── map_100by100_agents50_ex16.yaml │ ├── map_100by100_agents50_ex17.yaml │ ├── map_100by100_agents50_ex18.yaml │ ├── map_100by100_agents50_ex19.yaml │ ├── map_100by100_agents50_ex2.yaml │ ├── map_100by100_agents50_ex20.yaml │ ├── map_100by100_agents50_ex21.yaml │ ├── map_100by100_agents50_ex22.yaml │ ├── map_100by100_agents50_ex23.yaml │ ├── map_100by100_agents50_ex24.yaml │ ├── map_100by100_agents50_ex25.yaml │ ├── map_100by100_agents50_ex26.yaml │ ├── map_100by100_agents50_ex27.yaml │ ├── map_100by100_agents50_ex28.yaml │ ├── map_100by100_agents50_ex29.yaml │ ├── map_100by100_agents50_ex3.yaml │ ├── map_100by100_agents50_ex30.yaml │ ├── map_100by100_agents50_ex31.yaml │ ├── map_100by100_agents50_ex32.yaml │ ├── map_100by100_agents50_ex33.yaml │ ├── map_100by100_agents50_ex34.yaml │ ├── map_100by100_agents50_ex35.yaml │ ├── map_100by100_agents50_ex36.yaml │ ├── map_100by100_agents50_ex37.yaml │ ├── map_100by100_agents50_ex38.yaml │ ├── map_100by100_agents50_ex39.yaml │ ├── map_100by100_agents50_ex4.yaml │ ├── map_100by100_agents50_ex40.yaml │ ├── map_100by100_agents50_ex41.yaml │ ├── map_100by100_agents50_ex42.yaml │ ├── map_100by100_agents50_ex43.yaml │ ├── map_100by100_agents50_ex44.yaml │ ├── map_100by100_agents50_ex45.yaml │ ├── map_100by100_agents50_ex46.yaml │ ├── map_100by100_agents50_ex47.yaml │ ├── map_100by100_agents50_ex48.yaml │ ├── map_100by100_agents50_ex49.yaml │ ├── map_100by100_agents50_ex5.yaml │ ├── map_100by100_agents50_ex50.yaml │ ├── map_100by100_agents50_ex51.yaml │ ├── map_100by100_agents50_ex52.yaml │ ├── map_100by100_agents50_ex53.yaml │ ├── map_100by100_agents50_ex54.yaml │ ├── map_100by100_agents50_ex55.yaml │ ├── map_100by100_agents50_ex56.yaml │ ├── map_100by100_agents50_ex57.yaml │ ├── map_100by100_agents50_ex58.yaml │ ├── map_100by100_agents50_ex59.yaml │ ├── map_100by100_agents50_ex6.yaml │ ├── map_100by100_agents50_ex7.yaml │ ├── map_100by100_agents50_ex8.yaml │ └── map_100by100_agents50_ex9.yaml ├── common ├── motion_planning.cc └── motion_planning.h ├── config.yaml ├── csdo.cc ├── hybrid_a_star ├── Instance.cc ├── Instance.h ├── environment.h ├── hybrid_astar.h ├── hybrid_astar_interface.cc ├── hybrid_astar_interface.h ├── neighbor.h ├── planresult.h ├── timer.h └── types.h ├── pbs ├── Conflict.cc ├── Conflict.h ├── PBS.cc ├── PBS.h ├── PBSNode.cc ├── PBSNode.h ├── SingleAgentSolver.h └── common.h ├── pbs_search.cc ├── scripts ├── analysis.py ├── analysis_result.py ├── collision_detection.py ├── collision_geometry.py ├── generate_scenarios.py ├── plot_summary.py ├── test_through_benchmark.sh ├── translate2mat.py ├── visualize.py └── visualize_corridor.py ├── sqp ├── common.h ├── corridor.cc ├── corridor.h ├── dsqp_solver.cc ├── dsqp_solver.h ├── inter_agent_cons.cc ├── inter_agent_cons.h ├── utils.cc └── utils.h └── util ├── file_utils.cc ├── file_utils.h └── string_utils.h /.gitignore: -------------------------------------------------------------------------------- 1 | build/ 2 | __pycache__/ 3 | *.kdev4* 4 | .vscode/ 5 | docs/ 6 | results/ 7 | .vscode/ 8 | .github/ 9 | docs/ 10 | doxygen/ 11 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex0.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [44.42, 35.57, -0.30] 3 | name: agent0 4 | goal: [33.94, 8.57, 1.51] 5 | - start: [16.96, 43.83, -0.02] 6 | name: agent1 7 | goal: [17.56, 12.35, 2.33] 8 | - start: [23.60, 13.00, -1.64] 9 | name: agent2 10 | goal: [24.73, 29.42, 1.88] 11 | - start: [20.83, 25.18, 0.43] 12 | name: agent3 13 | goal: [12.01, 4.45, 2.23] 14 | - start: [11.04, 14.40, -1.54] 15 | name: agent4 16 | goal: [33.35, 14.91, -1.85] 17 | - start: [15.20, 36.49, 1.23] 18 | name: agent5 19 | goal: [18.60, 4.23, -1.88] 20 | - start: [7.35, 23.79, -2.48] 21 | name: agent6 22 | goal: [29.84, 37.86, 1.36] 23 | - start: [16.77, 29.09, 0.16] 24 | name: agent7 25 | goal: [21.77, 19.17, 2.98] 26 | - start: [39.21, 10.35, 2.46] 27 | name: agent8 28 | goal: [26.52, 17.56, -2.58] 29 | - start: [32.26, 43.63, -0.57] 30 | name: agent9 31 | goal: [4.79, 15.41, 2.61] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex1.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [12.84, 15.81, 1.81] 3 | name: agent0 4 | goal: [25.97, 43.11, 1.26] 5 | - start: [8.44, 32.29, -2.75] 6 | name: agent1 7 | goal: [33.07, 11.87, -2.74] 8 | - start: [22.78, 15.41, 2.20] 9 | name: agent2 10 | goal: [16.02, 4.88, -1.76] 11 | - start: [10.94, 6.64, -1.39] 12 | name: agent3 13 | goal: [27.60, 31.62, 2.65] 14 | - start: [28.87, 22.15, -1.98] 15 | name: agent4 16 | goal: [29.36, 9.19, 2.78] 17 | - start: [37.98, 4.33, 2.95] 18 | name: agent5 19 | goal: [33.78, 6.59, 2.92] 20 | - start: [21.15, 40.41, -0.06] 21 | name: agent6 22 | goal: [43.65, 32.28, -2.28] 23 | - start: [25.37, 27.20, -2.67] 24 | name: agent7 25 | goal: [5.96, 43.31, 0.24] 26 | - start: [16.72, 10.10, -2.38] 27 | name: agent8 28 | goal: [23.25, 20.54, 0.82] 29 | - start: [38.36, 34.84, -2.68] 30 | name: agent9 31 | goal: [8.52, 10.62, 2.62] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex10.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [19.98, 29.86, 1.03] 3 | name: agent0 4 | goal: [43.58, 38.35, 1.83] 5 | - start: [13.06, 23.43, 2.52] 6 | name: agent1 7 | goal: [43.95, 14.19, -3.01] 8 | - start: [29.60, 17.06, -1.68] 9 | name: agent2 10 | goal: [30.66, 24.11, -1.77] 11 | - start: [9.56, 12.79, 0.58] 12 | name: agent3 13 | goal: [28.08, 32.51, 1.52] 14 | - start: [28.34, 38.96, 2.82] 15 | name: agent4 16 | goal: [38.54, 28.28, 0.06] 17 | - start: [3.93, 9.55, 0.81] 18 | name: agent5 19 | goal: [5.00, 32.34, -1.34] 20 | - start: [17.36, 44.54, -0.32] 21 | name: agent6 22 | goal: [5.49, 4.22, 2.86] 23 | - start: [16.69, 39.31, 1.78] 24 | name: agent7 25 | goal: [24.44, 4.44, 1.83] 26 | - start: [13.34, 16.17, -0.46] 27 | name: agent8 28 | goal: [4.49, 38.50, 2.70] 29 | - start: [21.99, 23.84, -0.63] 30 | name: agent9 31 | goal: [12.24, 5.46, 2.10] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex11.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [27.09, 14.82, 3.08] 3 | name: agent0 4 | goal: [3.65, 32.93, -2.24] 5 | - start: [8.38, 16.44, -0.38] 6 | name: agent1 7 | goal: [7.13, 6.63, 2.31] 8 | - start: [13.12, 4.42, -1.08] 9 | name: agent2 10 | goal: [7.84, 25.50, 0.19] 11 | - start: [39.68, 42.72, 2.16] 12 | name: agent3 13 | goal: [37.99, 10.21, 1.09] 14 | - start: [44.72, 23.04, 2.27] 15 | name: agent4 16 | goal: [26.13, 36.07, -2.33] 17 | - start: [14.57, 44.78, 0.38] 18 | name: agent5 19 | goal: [18.71, 6.54, -2.11] 20 | - start: [16.90, 32.89, -0.37] 21 | name: agent6 22 | goal: [34.49, 4.70, -0.49] 23 | - start: [12.04, 33.61, 2.69] 24 | name: agent7 25 | goal: [34.92, 21.66, -2.74] 26 | - start: [31.89, 29.61, -1.06] 27 | name: agent8 28 | goal: [31.92, 17.07, 0.46] 29 | - start: [32.99, 35.90, 0.08] 30 | name: agent9 31 | goal: [12.63, 14.07, -1.93] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex12.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [36.60, 28.29, -1.66] 3 | name: agent0 4 | goal: [38.31, 10.91, 1.21] 5 | - start: [5.98, 9.77, -0.11] 6 | name: agent1 7 | goal: [43.63, 40.88, -0.07] 8 | - start: [29.54, 36.79, 1.66] 9 | name: agent2 10 | goal: [11.29, 15.14, -0.90] 11 | - start: [44.57, 17.79, 2.04] 12 | name: agent3 13 | goal: [40.32, 22.63, 2.06] 14 | - start: [41.30, 4.40, 1.59] 15 | name: agent4 16 | goal: [38.36, 43.56, -0.10] 17 | - start: [31.96, 3.43, -2.22] 18 | name: agent5 19 | goal: [17.92, 34.97, 1.41] 20 | - start: [13.98, 28.32, -1.51] 21 | name: agent6 22 | goal: [42.19, 36.29, 1.58] 23 | - start: [26.34, 13.36, 0.38] 24 | name: agent7 25 | goal: [34.38, 38.96, 3.08] 26 | - start: [10.96, 5.44, -2.68] 27 | name: agent8 28 | goal: [31.99, 14.91, 0.22] 29 | - start: [39.07, 18.33, -1.74] 30 | name: agent9 31 | goal: [27.20, 31.74, 1.45] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex13.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [35.63, 18.09, 2.51] 3 | name: agent0 4 | goal: [13.74, 36.51, 2.51] 5 | - start: [33.60, 10.17, 2.19] 6 | name: agent1 7 | goal: [39.78, 3.38, 0.64] 8 | - start: [7.19, 30.04, 2.86] 9 | name: agent2 10 | goal: [10.57, 25.91, 0.04] 11 | - start: [14.41, 41.50, -1.90] 12 | name: agent3 13 | goal: [22.37, 22.39, -0.18] 14 | - start: [16.39, 16.00, -1.61] 15 | name: agent4 16 | goal: [40.36, 30.46, -0.54] 17 | - start: [23.16, 3.09, -2.13] 18 | name: agent5 19 | goal: [30.56, 41.40, -1.87] 20 | - start: [41.13, 24.39, -2.15] 21 | name: agent6 22 | goal: [29.04, 4.70, -1.76] 23 | - start: [11.38, 17.02, 0.14] 24 | name: agent7 25 | goal: [15.80, 30.32, -2.75] 26 | - start: [6.37, 4.35, 0.34] 27 | name: agent8 28 | goal: [42.32, 15.39, 2.03] 29 | - start: [30.30, 32.58, -0.64] 30 | name: agent9 31 | goal: [19.85, 39.23, 1.02] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex14.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [38.46, 26.35, 0.38] 3 | name: agent0 4 | goal: [41.69, 14.04, 2.03] 5 | - start: [14.42, 7.11, -1.76] 6 | name: agent1 7 | goal: [18.65, 18.80, 1.23] 8 | - start: [16.64, 38.46, 2.34] 9 | name: agent2 10 | goal: [14.79, 27.57, 0.29] 11 | - start: [12.81, 13.61, 3.03] 12 | name: agent3 13 | goal: [4.90, 40.16, -0.73] 14 | - start: [33.42, 40.04, -1.81] 15 | name: agent4 16 | goal: [34.79, 13.72, -1.20] 17 | - start: [31.58, 34.87, -2.15] 18 | name: agent5 19 | goal: [33.87, 26.96, 0.09] 20 | - start: [22.60, 34.67, 2.89] 21 | name: agent6 22 | goal: [4.21, 23.59, 2.76] 23 | - start: [22.50, 42.25, -1.23] 24 | name: agent7 25 | goal: [27.39, 40.47, -1.46] 26 | - start: [24.08, 18.36, -1.18] 27 | name: agent8 28 | goal: [22.14, 10.15, 0.38] 29 | - start: [18.00, 44.10, -2.08] 30 | name: agent9 31 | goal: [9.27, 4.18, -1.38] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex15.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [44.28, 21.52, -0.35] 3 | name: agent0 4 | goal: [43.57, 41.84, -0.26] 5 | - start: [9.05, 22.18, 1.83] 6 | name: agent1 7 | goal: [36.82, 30.09, -2.61] 8 | - start: [3.21, 32.25, -0.25] 9 | name: agent2 10 | goal: [44.94, 8.65, 1.82] 11 | - start: [22.14, 41.94, -1.41] 12 | name: agent3 13 | goal: [43.77, 14.96, -0.70] 14 | - start: [39.01, 43.50, -1.18] 15 | name: agent4 16 | goal: [9.04, 4.50, -0.80] 17 | - start: [8.37, 37.59, 2.94] 18 | name: agent5 19 | goal: [26.07, 23.35, -1.31] 20 | - start: [14.95, 43.59, -0.69] 21 | name: agent6 22 | goal: [31.00, 18.67, -3.03] 23 | - start: [29.89, 7.36, 1.00] 24 | name: agent7 25 | goal: [11.50, 14.98, -0.10] 26 | - start: [14.43, 18.73, 3.09] 27 | name: agent8 28 | goal: [18.68, 5.65, 2.04] 29 | - start: [3.08, 41.37, 2.04] 30 | name: agent9 31 | goal: [36.74, 19.56, 2.87] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex16.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [10.87, 23.78, 1.41] 3 | name: agent0 4 | goal: [3.36, 39.11, -1.98] 5 | - start: [18.20, 36.07, 2.05] 6 | name: agent1 7 | goal: [44.82, 12.59, 1.82] 8 | - start: [9.01, 15.16, 1.61] 9 | name: agent2 10 | goal: [4.11, 14.72, 1.96] 11 | - start: [36.74, 3.03, -2.86] 12 | name: agent3 13 | goal: [40.48, 9.91, 0.49] 14 | - start: [31.58, 11.19, -0.85] 15 | name: agent4 16 | goal: [15.30, 19.83, -2.09] 17 | - start: [20.59, 43.82, 1.06] 18 | name: agent5 19 | goal: [27.53, 41.52, 0.12] 20 | - start: [31.94, 42.28, 1.30] 21 | name: agent6 22 | goal: [36.94, 22.08, 0.55] 23 | - start: [17.61, 13.56, -1.72] 24 | name: agent7 25 | goal: [24.93, 22.82, 0.95] 26 | - start: [27.48, 30.29, 2.40] 27 | name: agent8 28 | goal: [18.13, 30.85, -1.95] 29 | - start: [26.34, 36.29, 1.37] 30 | name: agent9 31 | goal: [11.46, 30.33, -1.37] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex17.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [27.10, 31.14, 0.06] 3 | name: agent0 4 | goal: [44.20, 39.67, 0.54] 5 | - start: [12.75, 33.05, 2.53] 6 | name: agent1 7 | goal: [43.49, 25.60, -0.90] 8 | - start: [30.91, 12.97, -0.35] 9 | name: agent2 10 | goal: [36.95, 4.05, 0.28] 11 | - start: [37.76, 16.30, -2.10] 12 | name: agent3 13 | goal: [14.54, 38.48, 1.67] 14 | - start: [13.64, 9.31, 0.19] 15 | name: agent4 16 | goal: [35.99, 24.31, 2.09] 17 | - start: [18.73, 9.65, 1.53] 18 | name: agent5 19 | goal: [30.95, 5.41, -2.89] 20 | - start: [10.31, 24.61, 0.82] 21 | name: agent6 22 | goal: [31.06, 44.84, 1.21] 23 | - start: [10.91, 3.72, 2.77] 24 | name: agent7 25 | goal: [28.52, 35.80, 0.09] 26 | - start: [20.77, 23.96, 1.30] 27 | name: agent8 28 | goal: [20.44, 37.35, -2.92] 29 | - start: [31.16, 20.26, -0.94] 30 | name: agent9 31 | goal: [41.52, 6.91, -2.41] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex18.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [14.85, 5.92, -0.17] 3 | name: agent0 4 | goal: [29.61, 8.27, 2.66] 5 | - start: [20.41, 28.20, -1.40] 6 | name: agent1 7 | goal: [36.53, 41.80, -1.43] 8 | - start: [32.25, 44.24, 0.29] 9 | name: agent2 10 | goal: [42.12, 38.74, -2.92] 11 | - start: [29.59, 28.32, -1.03] 12 | name: agent3 13 | goal: [11.02, 31.29, -2.55] 14 | - start: [42.63, 22.01, 1.74] 15 | name: agent4 16 | goal: [4.55, 34.68, -1.11] 17 | - start: [39.34, 6.87, 0.54] 18 | name: agent5 19 | goal: [36.32, 26.50, 2.37] 20 | - start: [14.34, 38.46, -2.38] 21 | name: agent6 22 | goal: [27.84, 34.34, 0.31] 23 | - start: [32.17, 18.68, -1.03] 24 | name: agent7 25 | goal: [34.42, 10.45, -1.43] 26 | - start: [44.60, 10.77, 1.86] 27 | name: agent8 28 | goal: [37.28, 31.22, 1.60] 29 | - start: [39.48, 15.40, -1.12] 30 | name: agent9 31 | goal: [21.73, 19.94, -1.07] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex19.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [33.86, 19.50, -2.42] 3 | name: agent0 4 | goal: [24.83, 35.56, 0.46] 5 | - start: [36.47, 42.58, -2.14] 6 | name: agent1 7 | goal: [19.19, 30.43, -2.45] 8 | - start: [26.43, 42.21, -0.39] 9 | name: agent2 10 | goal: [13.41, 30.60, -2.96] 11 | - start: [29.10, 4.73, 0.20] 12 | name: agent3 13 | goal: [28.09, 17.60, 1.87] 14 | - start: [33.63, 28.76, -2.31] 15 | name: agent4 16 | goal: [10.77, 12.44, 0.84] 17 | - start: [6.32, 26.67, -1.46] 18 | name: agent5 19 | goal: [10.09, 7.92, -1.15] 20 | - start: [30.96, 44.54, -2.83] 21 | name: agent6 22 | goal: [44.57, 27.80, -2.18] 23 | - start: [41.93, 32.79, -2.34] 24 | name: agent7 25 | goal: [18.56, 17.79, 2.01] 26 | - start: [41.68, 6.49, -1.64] 27 | name: agent8 28 | goal: [3.66, 36.40, -0.16] 29 | - start: [4.73, 41.18, 1.88] 30 | name: agent9 31 | goal: [35.12, 9.79, 2.01] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex2.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [37.59, 43.50, -1.20] 3 | name: agent0 4 | goal: [36.82, 28.83, -2.99] 5 | - start: [20.85, 36.02, 1.52] 6 | name: agent1 7 | goal: [20.07, 4.68, 1.25] 8 | - start: [38.58, 3.44, -0.13] 9 | name: agent2 10 | goal: [43.73, 43.73, 2.75] 11 | - start: [42.36, 10.32, 0.48] 12 | name: agent3 13 | goal: [16.56, 20.35, 2.97] 14 | - start: [6.16, 10.95, -1.69] 15 | name: agent4 16 | goal: [30.77, 35.17, 0.60] 17 | - start: [42.68, 16.55, 1.92] 18 | name: agent5 19 | goal: [7.61, 15.72, -1.73] 20 | - start: [14.74, 41.99, -1.60] 21 | name: agent6 22 | goal: [17.39, 13.91, -0.69] 23 | - start: [10.77, 23.91, -2.04] 24 | name: agent7 25 | goal: [17.76, 31.80, -0.77] 26 | - start: [29.18, 20.18, -1.98] 27 | name: agent8 28 | goal: [22.11, 16.33, 1.87] 29 | - start: [18.82, 26.50, -0.21] 30 | name: agent9 31 | goal: [3.93, 35.46, -0.47] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex20.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [36.07, 21.03, -2.66] 3 | name: agent0 4 | goal: [20.55, 16.15, 0.95] 5 | - start: [13.51, 8.30, -0.26] 6 | name: agent1 7 | goal: [43.23, 36.14, 2.65] 8 | - start: [31.70, 27.05, 2.70] 9 | name: agent2 10 | goal: [14.34, 43.17, 1.09] 11 | - start: [25.03, 41.74, -0.02] 12 | name: agent3 13 | goal: [39.74, 24.88, -2.04] 14 | - start: [5.82, 15.87, -1.95] 15 | name: agent4 16 | goal: [25.72, 12.01, 0.51] 17 | - start: [12.40, 14.76, -1.41] 18 | name: agent5 19 | goal: [20.53, 28.39, -1.89] 20 | - start: [30.38, 20.35, 0.71] 21 | name: agent6 22 | goal: [40.15, 15.87, -2.09] 23 | - start: [23.12, 3.79, -3.08] 24 | name: agent7 25 | goal: [44.89, 11.09, -0.13] 26 | - start: [34.49, 5.92, -1.27] 27 | name: agent8 28 | goal: [24.70, 21.30, 1.40] 29 | - start: [10.01, 27.73, -0.36] 30 | name: agent9 31 | goal: [34.45, 12.30, -1.31] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex21.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [28.63, 39.57, 0.22] 3 | name: agent0 4 | goal: [18.39, 9.18, -1.53] 5 | - start: [43.40, 10.14, -0.24] 6 | name: agent1 7 | goal: [22.35, 19.02, 2.20] 8 | - start: [24.10, 36.31, 1.49] 9 | name: agent2 10 | goal: [27.41, 16.10, -1.07] 11 | - start: [32.46, 3.83, 0.57] 12 | name: agent3 13 | goal: [13.15, 32.29, 2.38] 14 | - start: [34.06, 16.92, -2.81] 15 | name: agent4 16 | goal: [13.74, 7.05, -1.94] 17 | - start: [16.31, 25.23, -0.47] 18 | name: agent5 19 | goal: [38.21, 36.93, -1.45] 20 | - start: [11.71, 22.55, -0.73] 21 | name: agent6 22 | goal: [12.66, 37.59, 1.05] 23 | - start: [24.69, 41.91, -1.25] 24 | name: agent7 25 | goal: [10.25, 44.10, -1.28] 26 | - start: [44.24, 40.75, -1.49] 27 | name: agent8 28 | goal: [30.26, 30.68, 1.29] 29 | - start: [15.86, 13.51, 0.82] 30 | name: agent9 31 | goal: [15.82, 41.71, 0.55] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex22.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [10.36, 7.36, 2.95] 3 | name: agent0 4 | goal: [25.79, 15.79, -1.21] 5 | - start: [9.36, 16.59, -0.30] 6 | name: agent1 7 | goal: [35.84, 29.85, -1.55] 8 | - start: [21.64, 29.97, 2.63] 9 | name: agent2 10 | goal: [11.37, 12.34, -0.80] 11 | - start: [9.14, 22.83, -1.35] 12 | name: agent3 13 | goal: [19.97, 43.73, -0.92] 14 | - start: [38.78, 9.51, 2.38] 15 | name: agent4 16 | goal: [14.37, 16.25, -0.08] 17 | - start: [43.21, 35.49, 2.85] 18 | name: agent5 19 | goal: [14.96, 41.64, -1.59] 20 | - start: [35.95, 44.75, -1.78] 21 | name: agent6 22 | goal: [4.60, 25.63, -1.16] 23 | - start: [12.42, 34.86, 0.64] 24 | name: agent7 25 | goal: [42.13, 18.55, -0.64] 26 | - start: [16.80, 6.60, -1.89] 27 | name: agent8 28 | goal: [25.96, 21.62, 1.05] 29 | - start: [44.60, 23.48, -1.66] 30 | name: agent9 31 | goal: [4.36, 39.69, 1.56] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex23.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [24.86, 12.32, 0.75] 3 | name: agent0 4 | goal: [13.01, 15.82, -1.74] 5 | - start: [42.66, 22.54, -2.48] 6 | name: agent1 7 | goal: [36.73, 32.43, 0.03] 8 | - start: [21.03, 18.88, 1.38] 9 | name: agent2 10 | goal: [10.51, 8.23, 2.71] 11 | - start: [26.90, 34.42, 1.33] 12 | name: agent3 13 | goal: [14.04, 36.95, 1.74] 14 | - start: [6.46, 14.80, 3.10] 15 | name: agent4 16 | goal: [40.26, 37.11, -0.31] 17 | - start: [34.46, 37.69, -2.28] 18 | name: agent5 19 | goal: [17.84, 39.32, 2.91] 20 | - start: [33.21, 14.57, 1.59] 21 | name: agent6 22 | goal: [20.84, 10.09, -0.30] 23 | - start: [35.24, 24.33, -0.52] 24 | name: agent7 25 | goal: [11.76, 41.32, -2.81] 26 | - start: [42.73, 28.50, 0.08] 27 | name: agent8 28 | goal: [6.83, 37.07, 0.15] 29 | - start: [24.39, 25.75, -1.68] 30 | name: agent9 31 | goal: [17.01, 21.09, 1.47] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex24.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [34.76, 5.36, 0.84] 3 | name: agent0 4 | goal: [25.80, 15.16, -1.35] 5 | - start: [18.34, 40.75, 1.36] 6 | name: agent1 7 | goal: [31.69, 40.27, -2.74] 8 | - start: [39.48, 9.54, 3.04] 9 | name: agent2 10 | goal: [26.31, 34.37, -0.29] 11 | - start: [26.34, 29.62, 3.02] 12 | name: agent3 13 | goal: [9.81, 6.20, -0.50] 14 | - start: [21.05, 18.91, -2.44] 15 | name: agent4 16 | goal: [4.47, 15.80, 2.79] 17 | - start: [3.33, 36.85, -1.88] 18 | name: agent5 19 | goal: [23.49, 7.57, 2.17] 20 | - start: [20.20, 29.16, 0.59] 21 | name: agent6 22 | goal: [17.91, 5.77, -1.70] 23 | - start: [10.08, 29.77, 2.27] 24 | name: agent7 25 | goal: [40.78, 22.24, -3.11] 26 | - start: [30.71, 35.71, 3.08] 27 | name: agent8 28 | goal: [5.97, 42.30, -0.47] 29 | - start: [12.76, 20.56, 2.90] 30 | name: agent9 31 | goal: [15.55, 29.39, 0.30] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex25.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [20.23, 20.91, -0.67] 3 | name: agent0 4 | goal: [36.68, 36.02, -0.18] 5 | - start: [27.14, 41.91, 1.08] 6 | name: agent1 7 | goal: [11.98, 36.05, -2.98] 8 | - start: [25.96, 31.79, -2.05] 9 | name: agent2 10 | goal: [41.71, 10.02, -3.08] 11 | - start: [5.92, 41.12, -1.37] 12 | name: agent3 13 | goal: [10.68, 16.32, -1.41] 14 | - start: [10.62, 30.62, 1.22] 15 | name: agent4 16 | goal: [7.95, 6.01, 2.89] 17 | - start: [22.18, 40.60, -2.07] 18 | name: agent5 19 | goal: [41.17, 35.58, -0.95] 20 | - start: [31.46, 21.29, -2.67] 21 | name: agent6 22 | goal: [27.94, 26.14, 1.77] 23 | - start: [43.27, 28.93, -2.09] 24 | name: agent7 25 | goal: [22.36, 16.13, 2.28] 26 | - start: [6.26, 19.71, 1.20] 27 | name: agent8 28 | goal: [4.41, 33.42, 0.17] 29 | - start: [10.91, 24.05, 0.55] 30 | name: agent9 31 | goal: [29.22, 12.20, 2.64] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex26.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [13.41, 18.23, 0.13] 3 | name: agent0 4 | goal: [35.66, 36.43, -0.22] 5 | - start: [37.48, 18.87, -0.85] 6 | name: agent1 7 | goal: [14.27, 40.74, 2.20] 8 | - start: [29.17, 40.23, 2.58] 9 | name: agent2 10 | goal: [43.80, 10.15, 1.43] 11 | - start: [36.30, 44.27, -0.57] 12 | name: agent3 13 | goal: [8.17, 24.85, 1.50] 14 | - start: [24.80, 23.52, 1.96] 15 | name: agent4 16 | goal: [9.03, 30.10, 1.85] 17 | - start: [14.44, 30.65, -2.78] 18 | name: agent5 19 | goal: [37.98, 7.94, 1.98] 20 | - start: [34.19, 4.99, 2.72] 21 | name: agent6 22 | goal: [9.43, 10.43, -1.70] 23 | - start: [24.06, 16.26, -2.11] 24 | name: agent7 25 | goal: [15.60, 24.14, 2.44] 26 | - start: [19.30, 6.54, -0.47] 27 | name: agent8 28 | goal: [19.18, 12.95, -1.83] 29 | - start: [20.98, 32.75, 2.88] 30 | name: agent9 31 | goal: [43.27, 43.20, -0.85] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex27.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [8.10, 17.43, -2.36] 3 | name: agent0 4 | goal: [13.57, 32.79, -0.72] 5 | - start: [29.81, 7.93, 1.53] 6 | name: agent1 7 | goal: [27.16, 36.36, -0.84] 8 | - start: [14.18, 9.64, 1.30] 9 | name: agent2 10 | goal: [17.95, 19.21, -0.23] 11 | - start: [7.97, 23.16, 0.60] 12 | name: agent3 13 | goal: [44.86, 44.76, 2.38] 14 | - start: [33.10, 44.68, -2.50] 15 | name: agent4 16 | goal: [40.32, 33.34, 0.24] 17 | - start: [21.13, 37.50, 1.50] 18 | name: agent5 19 | goal: [29.16, 27.69, 1.46] 20 | - start: [8.40, 33.38, 2.43] 21 | name: agent6 22 | goal: [30.23, 19.98, -1.65] 23 | - start: [8.39, 8.51, 1.53] 24 | name: agent7 25 | goal: [25.88, 14.37, 3.02] 26 | - start: [38.03, 11.69, 1.63] 27 | name: agent8 28 | goal: [3.24, 19.90, -1.20] 29 | - start: [3.54, 6.77, -2.25] 30 | name: agent9 31 | goal: [14.47, 26.30, -0.99] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex28.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [10.68, 23.89, 0.57] 3 | name: agent0 4 | goal: [10.51, 31.03, -1.68] 5 | - start: [12.80, 14.55, -1.69] 6 | name: agent1 7 | goal: [28.91, 41.91, 2.27] 8 | - start: [33.08, 4.08, -0.68] 9 | name: agent2 10 | goal: [4.20, 5.46, -0.39] 11 | - start: [17.38, 9.96, 2.23] 12 | name: agent3 13 | goal: [36.89, 14.29, -2.17] 14 | - start: [15.38, 22.84, -2.00] 15 | name: agent4 16 | goal: [9.04, 37.98, 0.22] 17 | - start: [15.01, 41.89, -0.50] 18 | name: agent5 19 | goal: [16.60, 5.55, -0.16] 20 | - start: [7.68, 10.65, -2.12] 21 | name: agent6 22 | goal: [20.06, 32.35, 1.94] 23 | - start: [23.52, 12.87, -2.68] 24 | name: agent7 25 | goal: [22.77, 27.97, 2.00] 26 | - start: [29.17, 22.47, -1.81] 27 | name: agent8 28 | goal: [40.49, 30.16, 1.17] 29 | - start: [37.60, 18.88, -2.19] 30 | name: agent9 31 | goal: [43.17, 42.74, 1.13] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex29.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [7.61, 3.95, 2.91] 3 | name: agent0 4 | goal: [25.54, 36.29, 0.30] 5 | - start: [42.85, 32.82, 2.48] 6 | name: agent1 7 | goal: [18.34, 18.23, -2.12] 8 | - start: [32.42, 40.92, -0.15] 9 | name: agent2 10 | goal: [7.49, 40.67, 0.29] 11 | - start: [3.20, 45.00, -2.10] 12 | name: agent3 13 | goal: [34.14, 24.72, -0.57] 14 | - start: [43.61, 37.30, 3.11] 15 | name: agent4 16 | goal: [26.92, 16.04, -1.82] 17 | - start: [7.86, 19.84, 2.52] 18 | name: agent5 19 | goal: [5.02, 33.54, 0.87] 20 | - start: [19.33, 28.90, 1.32] 21 | name: agent6 22 | goal: [29.35, 10.28, -0.72] 23 | - start: [42.77, 14.32, 0.04] 24 | name: agent7 25 | goal: [9.41, 35.45, -0.54] 26 | - start: [15.04, 43.89, 0.67] 27 | name: agent8 28 | goal: [3.76, 14.98, -0.21] 29 | - start: [44.27, 19.61, -2.62] 30 | name: agent9 31 | goal: [27.46, 21.10, 0.51] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex3.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [21.71, 31.98, -2.73] 3 | name: agent0 4 | goal: [6.13, 10.88, 2.41] 5 | - start: [26.09, 7.19, -1.89] 6 | name: agent1 7 | goal: [18.25, 11.72, -1.29] 8 | - start: [33.42, 42.43, -0.08] 9 | name: agent2 10 | goal: [30.80, 23.96, -0.34] 11 | - start: [3.10, 17.85, 0.74] 12 | name: agent3 13 | goal: [43.22, 15.27, 1.52] 14 | - start: [43.63, 43.91, -0.53] 15 | name: agent4 16 | goal: [3.44, 26.93, 2.98] 17 | - start: [22.84, 38.17, 0.73] 18 | name: agent5 19 | goal: [41.18, 39.82, -1.01] 20 | - start: [9.39, 26.12, 2.46] 21 | name: agent6 22 | goal: [41.58, 3.03, 2.07] 23 | - start: [17.67, 34.04, 0.37] 24 | name: agent7 25 | goal: [42.26, 26.95, -2.33] 26 | - start: [40.91, 20.02, -0.89] 27 | name: agent8 28 | goal: [10.51, 33.92, 1.03] 29 | - start: [30.11, 10.80, -0.84] 30 | name: agent9 31 | goal: [22.39, 27.11, 2.32] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex30.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [6.59, 17.58, -0.65] 3 | name: agent0 4 | goal: [13.02, 31.43, 2.28] 5 | - start: [35.35, 15.91, -2.09] 6 | name: agent1 7 | goal: [25.08, 6.04, 1.06] 8 | - start: [39.79, 26.19, 3.03] 9 | name: agent2 10 | goal: [30.60, 24.27, 2.98] 11 | - start: [8.03, 29.52, -0.54] 12 | name: agent3 13 | goal: [20.59, 14.37, 0.67] 14 | - start: [20.21, 5.96, 2.16] 15 | name: agent4 16 | goal: [35.07, 25.04, -2.01] 17 | - start: [43.76, 28.80, -1.69] 18 | name: agent5 19 | goal: [13.49, 41.97, -0.49] 20 | - start: [28.38, 33.44, 1.40] 21 | name: agent6 22 | goal: [42.16, 37.37, 1.96] 23 | - start: [33.88, 38.89, -1.16] 24 | name: agent7 25 | goal: [4.93, 39.62, -0.51] 26 | - start: [12.23, 4.69, 2.76] 27 | name: agent8 28 | goal: [18.88, 23.04, 3.04] 29 | - start: [30.25, 16.56, -0.23] 30 | name: agent9 31 | goal: [14.02, 26.39, 0.41] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex31.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [28.88, 28.81, 0.34] 3 | name: agent0 4 | goal: [7.04, 40.97, 2.11] 5 | - start: [21.51, 35.75, -1.50] 6 | name: agent1 7 | goal: [39.12, 4.67, -2.57] 8 | - start: [23.57, 3.67, -1.08] 9 | name: agent2 10 | goal: [10.34, 15.42, -0.38] 11 | - start: [42.73, 21.36, -2.35] 12 | name: agent3 13 | goal: [28.07, 3.48, 0.46] 14 | - start: [30.29, 33.85, -0.82] 15 | name: agent4 16 | goal: [3.07, 28.95, -0.15] 17 | - start: [35.54, 19.55, 2.54] 18 | name: agent5 19 | goal: [38.39, 28.08, 0.99] 20 | - start: [13.44, 22.04, 2.35] 21 | name: agent6 22 | goal: [13.42, 40.02, 0.65] 23 | - start: [15.39, 34.27, -0.28] 24 | name: agent7 25 | goal: [20.01, 28.10, -2.06] 26 | - start: [5.98, 33.94, 2.80] 27 | name: agent8 28 | goal: [13.46, 9.63, 1.42] 29 | - start: [28.48, 19.78, 0.14] 30 | name: agent9 31 | goal: [13.70, 29.25, 2.05] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex32.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [36.72, 31.32, 1.28] 3 | name: agent0 4 | goal: [7.34, 35.86, 0.76] 5 | - start: [28.18, 19.40, 2.98] 6 | name: agent1 7 | goal: [40.56, 15.09, 2.20] 8 | - start: [29.94, 44.03, 0.90] 9 | name: agent2 10 | goal: [9.04, 29.38, -1.60] 11 | - start: [26.47, 10.87, -2.30] 12 | name: agent3 13 | goal: [10.16, 40.44, -1.06] 14 | - start: [9.93, 23.83, -1.63] 15 | name: agent4 16 | goal: [8.89, 17.23, -0.12] 17 | - start: [12.80, 8.93, -2.13] 18 | name: agent5 19 | goal: [5.11, 23.74, 1.33] 20 | - start: [35.91, 42.98, -2.34] 21 | name: agent6 22 | goal: [17.92, 8.85, 1.40] 23 | - start: [22.39, 36.24, -2.02] 24 | name: agent7 25 | goal: [5.54, 8.56, -0.43] 26 | - start: [17.00, 26.25, -0.05] 27 | name: agent8 28 | goal: [32.30, 7.79, 1.27] 29 | - start: [37.40, 25.34, -1.93] 30 | name: agent9 31 | goal: [23.16, 40.91, 0.94] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex33.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [28.73, 37.83, 0.44] 3 | name: agent0 4 | goal: [14.25, 38.43, -1.89] 5 | - start: [44.02, 8.37, 2.37] 6 | name: agent1 7 | goal: [39.45, 27.96, 2.36] 8 | - start: [36.15, 39.84, 2.29] 9 | name: agent2 10 | goal: [36.92, 9.62, 1.21] 11 | - start: [3.75, 11.22, 1.61] 12 | name: agent3 13 | goal: [20.38, 27.69, 1.93] 14 | - start: [44.39, 19.99, -1.46] 15 | name: agent4 16 | goal: [15.72, 43.94, 2.66] 17 | - start: [7.51, 40.03, 0.40] 18 | name: agent5 19 | goal: [35.37, 4.92, -0.18] 20 | - start: [24.95, 11.24, 1.50] 21 | name: agent6 22 | goal: [31.11, 22.85, 2.16] 23 | - start: [4.67, 30.16, 2.77] 24 | name: agent7 25 | goal: [30.57, 13.91, -2.53] 26 | - start: [22.90, 20.54, -1.96] 27 | name: agent8 28 | goal: [41.51, 40.44, 0.84] 29 | - start: [40.77, 5.18, -1.63] 30 | name: agent9 31 | goal: [31.68, 44.04, 0.22] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex34.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [35.90, 10.09, 2.14] 3 | name: agent0 4 | goal: [23.53, 11.66, 1.96] 5 | - start: [12.18, 19.73, -0.62] 6 | name: agent1 7 | goal: [9.33, 14.92, 1.37] 8 | - start: [8.33, 34.07, -0.81] 9 | name: agent2 10 | goal: [38.18, 3.62, -1.19] 11 | - start: [18.99, 43.76, -2.33] 12 | name: agent3 13 | goal: [43.36, 17.60, 2.59] 14 | - start: [31.83, 21.04, -2.08] 15 | name: agent4 16 | goal: [21.45, 21.02, -0.47] 17 | - start: [14.34, 11.37, -0.21] 18 | name: agent5 19 | goal: [37.61, 32.94, 1.33] 20 | - start: [28.91, 3.31, -0.44] 21 | name: agent6 22 | goal: [26.30, 27.67, 2.05] 23 | - start: [16.22, 37.73, 1.30] 24 | name: agent7 25 | goal: [24.46, 34.68, -0.79] 26 | - start: [29.27, 31.07, -3.02] 27 | name: agent8 28 | goal: [3.54, 35.82, -1.97] 29 | - start: [26.76, 42.57, -0.89] 30 | name: agent9 31 | goal: [3.76, 20.02, 2.96] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex35.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [33.99, 32.51, 2.56] 3 | name: agent0 4 | goal: [9.21, 28.80, -2.62] 5 | - start: [30.51, 42.78, -0.90] 6 | name: agent1 7 | goal: [22.22, 43.46, -0.42] 8 | - start: [39.77, 35.39, 3.10] 9 | name: agent2 10 | goal: [25.68, 5.35, 1.13] 11 | - start: [9.41, 21.91, -2.35] 12 | name: agent3 13 | goal: [11.82, 9.43, -2.40] 14 | - start: [17.67, 15.83, -0.86] 15 | name: agent4 16 | goal: [26.57, 13.60, 0.45] 17 | - start: [29.35, 26.22, 2.41] 18 | name: agent5 19 | goal: [42.05, 20.58, -0.66] 20 | - start: [39.09, 27.34, -0.16] 21 | name: agent6 22 | goal: [7.03, 3.64, 0.54] 23 | - start: [43.99, 26.30, -0.13] 24 | name: agent7 25 | goal: [33.70, 17.62, -1.22] 26 | - start: [30.41, 20.66, 2.50] 27 | name: agent8 28 | goal: [34.95, 38.22, -0.22] 29 | - start: [4.43, 23.30, 1.54] 30 | name: agent9 31 | goal: [26.76, 35.67, 0.09] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex36.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [17.46, 25.25, 0.64] 3 | name: agent0 4 | goal: [3.24, 19.40, 1.28] 5 | - start: [38.32, 9.60, -0.07] 6 | name: agent1 7 | goal: [6.49, 11.33, 0.24] 8 | - start: [11.47, 5.82, -1.65] 9 | name: agent2 10 | goal: [39.29, 16.33, 0.02] 11 | - start: [23.01, 31.22, 0.75] 12 | name: agent3 13 | goal: [37.60, 37.85, -0.17] 14 | - start: [16.52, 19.82, -0.14] 15 | name: agent4 16 | goal: [17.57, 43.85, -2.55] 17 | - start: [31.56, 21.25, 0.40] 18 | name: agent5 19 | goal: [34.16, 6.29, -1.72] 20 | - start: [36.61, 25.44, 0.34] 21 | name: agent6 22 | goal: [42.10, 22.64, -2.94] 23 | - start: [32.55, 30.94, 2.55] 24 | name: agent7 25 | goal: [9.59, 18.49, 2.89] 26 | - start: [42.70, 5.11, 2.10] 27 | name: agent8 28 | goal: [11.63, 30.76, -1.64] 29 | - start: [44.48, 27.16, 0.33] 30 | name: agent9 31 | goal: [20.78, 37.60, -1.75] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex37.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [32.71, 41.99, 2.44] 3 | name: agent0 4 | goal: [39.62, 6.88, 1.45] 5 | - start: [31.43, 19.92, -2.99] 6 | name: agent1 7 | goal: [32.02, 6.88, 1.63] 8 | - start: [41.83, 35.23, -2.63] 9 | name: agent2 10 | goal: [10.12, 33.23, -0.31] 11 | - start: [19.12, 11.30, -3.12] 12 | name: agent3 13 | goal: [21.85, 22.48, -0.74] 14 | - start: [42.85, 18.08, -2.90] 15 | name: agent4 16 | goal: [34.53, 31.26, -0.01] 17 | - start: [19.43, 29.75, -2.10] 18 | name: agent5 19 | goal: [26.50, 31.22, 0.83] 20 | - start: [8.92, 6.27, 1.81] 21 | name: agent6 22 | goal: [27.57, 3.42, 0.37] 23 | - start: [29.72, 34.45, -1.41] 24 | name: agent7 25 | goal: [18.14, 38.66, 1.50] 26 | - start: [39.66, 27.64, -0.69] 27 | name: agent8 28 | goal: [15.24, 7.02, -3.06] 29 | - start: [3.83, 23.98, -2.34] 30 | name: agent9 31 | goal: [39.35, 21.08, -2.51] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex38.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [31.41, 37.61, 2.63] 3 | name: agent0 4 | goal: [36.01, 31.01, -1.73] 5 | - start: [9.77, 4.02, -1.35] 6 | name: agent1 7 | goal: [12.28, 35.93, -2.46] 8 | - start: [41.52, 12.89, -2.91] 9 | name: agent2 10 | goal: [20.54, 17.76, 2.51] 11 | - start: [9.11, 26.24, 0.82] 12 | name: agent3 13 | goal: [31.98, 4.30, -1.79] 14 | - start: [38.91, 43.27, -1.94] 15 | name: agent4 16 | goal: [20.44, 9.66, -0.57] 17 | - start: [3.60, 19.09, -0.75] 18 | name: agent5 19 | goal: [32.73, 16.14, -1.96] 20 | - start: [22.88, 30.52, 0.86] 21 | name: agent6 22 | goal: [41.50, 33.56, 1.44] 23 | - start: [13.63, 44.95, 0.28] 24 | name: agent7 25 | goal: [44.69, 43.81, -0.17] 26 | - start: [15.63, 39.34, 2.92] 27 | name: agent8 28 | goal: [39.52, 6.16, 0.82] 29 | - start: [7.55, 44.83, -2.62] 30 | name: agent9 31 | goal: [27.62, 13.94, -1.14] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex39.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [18.46, 18.78, -0.78] 3 | name: agent0 4 | goal: [5.47, 13.88, 0.36] 5 | - start: [24.98, 44.72, -1.67] 6 | name: agent1 7 | goal: [15.71, 22.93, -1.72] 8 | - start: [17.31, 43.29, 0.47] 9 | name: agent2 10 | goal: [13.02, 4.72, -3.01] 11 | - start: [23.55, 35.39, -1.04] 12 | name: agent3 13 | goal: [26.46, 30.77, -2.51] 14 | - start: [44.35, 23.55, 2.30] 15 | name: agent4 16 | goal: [34.41, 3.58, 1.65] 17 | - start: [28.98, 38.79, -2.72] 18 | name: agent5 19 | goal: [19.12, 30.38, -2.97] 20 | - start: [34.52, 23.84, -2.48] 21 | name: agent6 22 | goal: [7.28, 28.04, -2.62] 23 | - start: [30.55, 21.05, 0.51] 24 | name: agent7 25 | goal: [42.82, 17.91, -1.49] 26 | - start: [16.83, 14.05, 2.44] 27 | name: agent8 28 | goal: [8.05, 9.56, -3.09] 29 | - start: [12.33, 40.54, -2.16] 30 | name: agent9 31 | goal: [10.06, 22.96, 2.67] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex4.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [7.42, 33.41, 1.93] 3 | name: agent0 4 | goal: [30.64, 25.43, 0.67] 5 | - start: [17.61, 5.40, -2.11] 6 | name: agent1 7 | goal: [7.52, 19.39, -1.27] 8 | - start: [13.13, 25.64, 2.70] 9 | name: agent2 10 | goal: [14.97, 21.20, -0.23] 11 | - start: [40.01, 40.40, 0.38] 12 | name: agent3 13 | goal: [36.40, 14.29, -0.91] 14 | - start: [3.63, 37.66, 0.36] 15 | name: agent4 16 | goal: [14.65, 30.19, -2.99] 17 | - start: [15.57, 36.57, 2.81] 18 | name: agent5 19 | goal: [23.23, 39.88, -2.46] 20 | - start: [36.43, 9.69, 2.60] 21 | name: agent6 22 | goal: [19.52, 15.07, 3.01] 23 | - start: [3.70, 26.93, -1.80] 24 | name: agent7 25 | goal: [25.31, 6.01, 0.99] 26 | - start: [29.24, 35.09, 2.24] 27 | name: agent8 28 | goal: [3.91, 15.22, 1.99] 29 | - start: [42.32, 21.53, -3.12] 30 | name: agent9 31 | goal: [14.01, 9.78, 3.00] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex40.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [13.08, 32.43, 1.73] 3 | name: agent0 4 | goal: [10.03, 19.00, -2.92] 5 | - start: [43.82, 20.33, -2.28] 6 | name: agent1 7 | goal: [10.23, 43.89, -1.41] 8 | - start: [14.84, 19.21, -1.47] 9 | name: agent2 10 | goal: [14.94, 23.74, 1.32] 11 | - start: [22.88, 20.00, -1.95] 12 | name: agent3 13 | goal: [19.76, 8.85, 3.11] 14 | - start: [34.69, 9.77, -1.58] 15 | name: agent4 16 | goal: [39.67, 6.88, 2.98] 17 | - start: [14.61, 41.63, 1.41] 18 | name: agent5 19 | goal: [5.18, 11.63, -1.65] 20 | - start: [29.36, 4.48, -2.36] 21 | name: agent6 22 | goal: [10.34, 23.61, -0.21] 23 | - start: [29.24, 39.92, -0.52] 24 | name: agent7 25 | goal: [4.83, 40.47, -1.31] 26 | - start: [11.47, 13.96, -2.69] 27 | name: agent8 28 | goal: [8.17, 33.34, 0.80] 29 | - start: [20.00, 35.25, -0.97] 30 | name: agent9 31 | goal: [27.26, 30.88, 0.70] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex41.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [20.97, 28.76, 0.06] 3 | name: agent0 4 | goal: [9.40, 12.65, -2.54] 5 | - start: [44.03, 8.28, 0.49] 6 | name: agent1 7 | goal: [30.44, 24.98, -1.68] 8 | - start: [32.57, 32.37, -0.16] 9 | name: agent2 10 | goal: [23.36, 14.72, 2.45] 11 | - start: [25.13, 31.43, -1.25] 12 | name: agent3 13 | goal: [15.96, 27.36, 0.57] 14 | - start: [24.96, 21.07, -2.51] 15 | name: agent4 16 | goal: [18.84, 42.25, -1.58] 17 | - start: [35.86, 26.81, -2.76] 18 | name: agent5 19 | goal: [28.52, 35.66, 1.45] 20 | - start: [14.85, 44.70, 0.21] 21 | name: agent6 22 | goal: [6.39, 8.24, -0.77] 23 | - start: [25.67, 40.72, -2.54] 24 | name: agent7 25 | goal: [12.36, 32.37, -0.23] 26 | - start: [11.57, 6.49, -2.08] 27 | name: agent8 28 | goal: [39.62, 16.12, -0.35] 29 | - start: [19.46, 3.36, -1.23] 30 | name: agent9 31 | goal: [13.83, 22.66, -1.96] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex42.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [9.88, 31.56, 0.65] 3 | name: agent0 4 | goal: [22.17, 32.12, -1.66] 5 | - start: [13.60, 12.45, 2.64] 6 | name: agent1 7 | goal: [13.09, 24.70, -1.26] 8 | - start: [42.81, 28.40, 0.76] 9 | name: agent2 10 | goal: [4.12, 11.53, -1.57] 11 | - start: [4.39, 25.40, -0.38] 12 | name: agent3 13 | goal: [21.67, 23.66, 0.31] 14 | - start: [34.81, 28.86, -0.89] 15 | name: agent4 16 | goal: [44.87, 10.40, 0.49] 17 | - start: [26.43, 35.95, 0.17] 18 | name: agent5 19 | goal: [44.89, 34.05, 0.14] 20 | - start: [20.60, 38.86, -0.24] 21 | name: agent6 22 | goal: [12.45, 8.07, 0.87] 23 | - start: [36.51, 16.70, 0.14] 24 | name: agent7 25 | goal: [35.26, 34.60, 2.77] 26 | - start: [22.42, 11.94, -2.55] 27 | name: agent8 28 | goal: [8.85, 39.12, 2.09] 29 | - start: [37.22, 10.10, -1.64] 30 | name: agent9 31 | goal: [40.03, 4.97, 2.34] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex43.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [15.56, 26.84, 0.24] 3 | name: agent0 4 | goal: [12.92, 30.52, 0.37] 5 | - start: [24.72, 4.25, -2.79] 6 | name: agent1 7 | goal: [38.61, 39.53, 0.41] 8 | - start: [20.29, 6.75, -1.81] 9 | name: agent2 10 | goal: [30.01, 26.74, 0.86] 11 | - start: [20.92, 40.41, -1.74] 12 | name: agent3 13 | goal: [35.62, 31.77, -2.40] 14 | - start: [15.69, 21.80, 0.05] 15 | name: agent4 16 | goal: [26.64, 42.20, 1.61] 17 | - start: [13.88, 39.26, 0.39] 18 | name: agent5 19 | goal: [35.57, 4.03, -1.73] 20 | - start: [33.49, 44.88, 1.98] 21 | name: agent6 22 | goal: [28.47, 14.65, 0.08] 23 | - start: [30.17, 9.19, 0.36] 24 | name: agent7 25 | goal: [37.00, 21.06, 1.31] 26 | - start: [40.89, 24.45, 2.87] 27 | name: agent8 28 | goal: [8.22, 3.98, -2.03] 29 | - start: [22.89, 16.59, 1.87] 30 | name: agent9 31 | goal: [18.94, 44.99, 0.38] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex44.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [22.17, 28.15, 1.16] 3 | name: agent0 4 | goal: [27.30, 8.91, -2.78] 5 | - start: [11.94, 19.90, 0.38] 6 | name: agent1 7 | goal: [33.39, 14.56, -0.44] 8 | - start: [37.38, 30.84, 0.08] 9 | name: agent2 10 | goal: [37.21, 8.38, -3.05] 11 | - start: [5.81, 33.61, 2.22] 12 | name: agent3 13 | goal: [23.71, 43.64, 2.80] 14 | - start: [23.61, 19.95, -1.06] 15 | name: agent4 16 | goal: [9.86, 13.87, 2.00] 17 | - start: [37.69, 43.72, 0.91] 18 | name: agent5 19 | goal: [8.05, 6.48, 2.87] 20 | - start: [31.44, 24.25, -0.95] 21 | name: agent6 22 | goal: [18.29, 37.13, 2.52] 23 | - start: [26.80, 30.39, 0.12] 24 | name: agent7 25 | goal: [12.96, 27.24, -2.20] 26 | - start: [37.29, 26.16, 1.35] 27 | name: agent8 28 | goal: [9.05, 40.10, -2.91] 29 | - start: [39.82, 36.96, 0.27] 30 | name: agent9 31 | goal: [13.24, 36.56, 1.69] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex45.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [6.44, 4.03, -0.61] 3 | name: agent0 4 | goal: [36.41, 21.85, 2.82] 5 | - start: [33.49, 9.31, -1.39] 6 | name: agent1 7 | goal: [44.57, 12.98, -2.65] 8 | - start: [22.94, 21.52, -3.10] 9 | name: agent2 10 | goal: [33.27, 28.26, 2.12] 11 | - start: [10.26, 6.84, 2.05] 12 | name: agent3 13 | goal: [3.63, 23.60, 0.90] 14 | - start: [29.61, 22.91, 2.98] 15 | name: agent4 16 | goal: [13.42, 13.03, -1.80] 17 | - start: [9.34, 41.11, -1.84] 18 | name: agent5 19 | goal: [42.47, 18.20, -1.38] 20 | - start: [15.85, 37.91, -2.75] 21 | name: agent6 22 | goal: [13.14, 24.84, 0.83] 23 | - start: [44.90, 32.35, -2.76] 24 | name: agent7 25 | goal: [28.35, 35.18, 1.26] 26 | - start: [5.15, 18.01, -0.97] 27 | name: agent8 28 | goal: [9.80, 19.45, 1.27] 29 | - start: [33.94, 39.86, 2.08] 30 | name: agent9 31 | goal: [21.02, 4.59, -0.02] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex46.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [34.18, 42.31, -0.73] 3 | name: agent0 4 | goal: [29.89, 7.15, -2.37] 5 | - start: [22.03, 3.76, 1.16] 6 | name: agent1 7 | goal: [19.16, 17.41, 0.80] 8 | - start: [29.06, 12.57, -0.88] 9 | name: agent2 10 | goal: [24.10, 32.83, 1.52] 11 | - start: [7.29, 5.53, -0.85] 12 | name: agent3 13 | goal: [7.32, 36.59, -1.34] 14 | - start: [8.31, 28.37, 2.50] 15 | name: agent4 16 | goal: [14.09, 12.02, 2.26] 17 | - start: [17.19, 35.78, -1.26] 18 | name: agent5 19 | goal: [13.01, 38.63, -3.04] 20 | - start: [14.74, 3.65, -2.13] 21 | name: agent6 22 | goal: [37.74, 18.11, 1.91] 23 | - start: [8.84, 17.04, -0.51] 24 | name: agent7 25 | goal: [36.25, 32.75, -0.02] 26 | - start: [38.84, 40.83, 0.60] 27 | name: agent8 28 | goal: [42.26, 13.60, 1.21] 29 | - start: [17.80, 24.97, -0.18] 30 | name: agent9 31 | goal: [31.16, 32.98, 1.94] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex47.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [28.36, 21.03, -1.62] 3 | name: agent0 4 | goal: [36.35, 44.12, 1.00] 5 | - start: [34.37, 14.25, -0.77] 6 | name: agent1 7 | goal: [32.63, 32.80, 2.20] 8 | - start: [8.79, 34.07, 0.28] 9 | name: agent2 10 | goal: [14.36, 9.65, 1.10] 11 | - start: [23.61, 42.77, -1.99] 12 | name: agent3 13 | goal: [6.16, 10.60, -0.76] 14 | - start: [7.07, 19.58, -0.11] 15 | name: agent4 16 | goal: [40.55, 19.26, -1.87] 17 | - start: [38.52, 30.00, 1.23] 18 | name: agent5 19 | goal: [29.74, 41.39, -2.72] 20 | - start: [9.03, 15.37, 0.75] 21 | name: agent6 22 | goal: [28.77, 15.64, -1.89] 23 | - start: [19.48, 17.30, -2.35] 24 | name: agent7 25 | goal: [43.62, 37.19, 0.40] 26 | - start: [19.42, 27.71, -1.62] 27 | name: agent8 28 | goal: [15.91, 23.63, 1.66] 29 | - start: [35.40, 20.27, -0.94] 30 | name: agent9 31 | goal: [38.40, 38.48, 0.18] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex48.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [43.02, 44.39, -0.46] 3 | name: agent0 4 | goal: [13.76, 11.54, -2.06] 5 | - start: [4.17, 12.86, 0.51] 6 | name: agent1 7 | goal: [41.89, 15.21, -1.33] 8 | - start: [42.02, 31.71, 0.54] 9 | name: agent2 10 | goal: [4.89, 28.38, -1.14] 11 | - start: [16.00, 34.75, -1.67] 12 | name: agent3 13 | goal: [34.45, 19.45, 2.28] 14 | - start: [44.40, 9.90, -2.52] 15 | name: agent4 16 | goal: [24.99, 18.20, -0.43] 17 | - start: [12.10, 6.33, 0.18] 18 | name: agent5 19 | goal: [40.58, 38.62, -1.44] 20 | - start: [9.86, 22.96, 0.04] 21 | name: agent6 22 | goal: [3.03, 7.12, -2.80] 23 | - start: [29.38, 6.83, 2.39] 24 | name: agent7 25 | goal: [36.09, 34.91, 2.38] 26 | - start: [4.46, 35.47, 3.03] 27 | name: agent8 28 | goal: [10.53, 37.19, 1.79] 29 | - start: [23.79, 26.70, -0.09] 30 | name: agent9 31 | goal: [29.76, 41.74, -2.33] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex49.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [5.67, 19.30, -0.64] 3 | name: agent0 4 | goal: [27.67, 22.00, -1.35] 5 | - start: [25.51, 8.67, 2.10] 6 | name: agent1 7 | goal: [15.45, 43.74, -1.16] 8 | - start: [43.62, 33.92, -1.16] 9 | name: agent2 10 | goal: [30.63, 13.19, -2.18] 11 | - start: [35.95, 29.96, 3.11] 12 | name: agent3 13 | goal: [33.11, 41.26, -2.19] 14 | - start: [8.35, 6.22, 2.35] 15 | name: agent4 16 | goal: [19.20, 24.81, 1.63] 17 | - start: [38.50, 3.12, 1.55] 18 | name: agent5 19 | goal: [24.98, 33.38, 2.75] 20 | - start: [15.74, 10.82, -1.70] 21 | name: agent6 22 | goal: [17.07, 4.64, 1.96] 23 | - start: [19.22, 31.11, -2.50] 24 | name: agent7 25 | goal: [12.72, 28.69, -1.16] 26 | - start: [39.54, 9.99, 0.19] 27 | name: agent8 28 | goal: [43.74, 43.78, -1.71] 29 | - start: [3.83, 7.07, -1.89] 30 | name: agent9 31 | goal: [39.27, 38.18, -3.12] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex5.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [18.06, 20.71, 1.84] 3 | name: agent0 4 | goal: [34.30, 32.68, -1.27] 5 | - start: [33.75, 18.24, 1.63] 6 | name: agent1 7 | goal: [14.05, 12.49, 2.08] 8 | - start: [31.40, 43.03, 0.15] 9 | name: agent2 10 | goal: [5.19, 11.90, -0.43] 11 | - start: [24.10, 31.00, 1.50] 12 | name: agent3 13 | goal: [43.91, 35.92, -1.20] 14 | - start: [31.37, 6.53, -2.64] 15 | name: agent4 16 | goal: [39.53, 30.96, -2.43] 17 | - start: [18.44, 32.85, -0.21] 18 | name: agent5 19 | goal: [10.67, 42.84, -1.24] 20 | - start: [41.14, 7.46, 2.74] 21 | name: agent6 22 | goal: [37.41, 26.15, 0.45] 23 | - start: [5.45, 33.43, 1.77] 24 | name: agent7 25 | goal: [39.41, 17.18, 0.40] 26 | - start: [3.45, 16.91, 0.25] 27 | name: agent8 28 | goal: [14.22, 34.80, 1.37] 29 | - start: [32.63, 38.46, -2.71] 30 | name: agent9 31 | goal: [16.73, 6.38, 2.86] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex50.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [7.03, 18.85, 0.20] 3 | name: agent0 4 | goal: [33.85, 7.87, 0.77] 5 | - start: [5.56, 23.42, -2.31] 6 | name: agent1 7 | goal: [44.38, 37.56, 1.98] 8 | - start: [24.32, 31.87, -0.40] 9 | name: agent2 10 | goal: [24.87, 38.77, 0.33] 11 | - start: [36.11, 38.60, 2.65] 12 | name: agent3 13 | goal: [39.74, 33.94, 0.82] 14 | - start: [9.61, 32.28, -1.33] 15 | name: agent4 16 | goal: [37.35, 21.23, -0.26] 17 | - start: [15.57, 13.62, -2.07] 18 | name: agent5 19 | goal: [34.77, 28.44, 2.26] 20 | - start: [28.90, 18.20, 2.19] 21 | name: agent6 22 | goal: [13.90, 28.55, 2.10] 23 | - start: [27.03, 8.73, 1.49] 24 | name: agent7 25 | goal: [23.38, 4.29, -2.27] 26 | - start: [43.05, 15.07, 1.55] 27 | name: agent8 28 | goal: [18.12, 36.54, -0.03] 29 | - start: [17.81, 44.75, 2.72] 30 | name: agent9 31 | goal: [6.36, 28.28, -2.17] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex51.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [7.08, 5.97, -1.78] 3 | name: agent0 4 | goal: [24.73, 43.91, -2.18] 5 | - start: [31.30, 18.50, -0.98] 6 | name: agent1 7 | goal: [34.43, 27.68, 2.53] 8 | - start: [5.15, 44.38, 1.59] 9 | name: agent2 10 | goal: [5.79, 23.55, -1.50] 11 | - start: [24.23, 8.99, -0.78] 12 | name: agent3 13 | goal: [15.58, 17.39, 1.74] 14 | - start: [21.50, 31.15, -1.43] 15 | name: agent4 16 | goal: [35.69, 23.20, 0.49] 17 | - start: [42.66, 12.71, 2.14] 18 | name: agent5 19 | goal: [31.99, 13.90, -2.34] 20 | - start: [37.40, 7.45, 0.35] 21 | name: agent6 22 | goal: [15.27, 43.53, -1.78] 23 | - start: [17.03, 3.96, 1.80] 24 | name: agent7 25 | goal: [44.98, 35.36, -1.14] 26 | - start: [19.56, 36.36, 2.80] 27 | name: agent8 28 | goal: [4.73, 31.67, 0.32] 29 | - start: [12.85, 11.16, 0.59] 30 | name: agent9 31 | goal: [24.89, 21.43, 2.65] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex52.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [32.85, 34.73, 1.15] 3 | name: agent0 4 | goal: [33.85, 44.85, 2.61] 5 | - start: [43.65, 32.78, -0.46] 6 | name: agent1 7 | goal: [10.30, 43.16, 2.65] 8 | - start: [27.90, 6.77, 1.00] 9 | name: agent2 10 | goal: [3.01, 28.27, 2.67] 11 | - start: [20.54, 20.86, -2.84] 12 | name: agent3 13 | goal: [8.52, 4.47, 0.67] 14 | - start: [27.63, 24.60, -1.39] 15 | name: agent4 16 | goal: [44.68, 4.21, -1.05] 17 | - start: [16.14, 28.64, 0.16] 18 | name: agent5 19 | goal: [9.35, 10.98, 1.74] 20 | - start: [29.68, 18.00, 0.03] 21 | name: agent6 22 | goal: [17.78, 3.94, -2.82] 23 | - start: [3.42, 38.45, 1.85] 24 | name: agent7 25 | goal: [34.16, 10.26, 1.30] 26 | - start: [36.67, 6.13, -1.20] 27 | name: agent8 28 | goal: [3.85, 7.78, 0.05] 29 | - start: [39.39, 16.96, -1.71] 30 | name: agent9 31 | goal: [9.26, 16.69, -1.54] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex53.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [28.84, 42.14, -0.14] 3 | name: agent0 4 | goal: [41.35, 32.98, 2.82] 5 | - start: [39.67, 24.12, 1.25] 6 | name: agent1 7 | goal: [11.41, 28.84, -0.96] 8 | - start: [27.58, 22.29, 1.01] 9 | name: agent2 10 | goal: [16.43, 21.44, 0.23] 11 | - start: [40.24, 14.49, -3.06] 12 | name: agent3 13 | goal: [14.27, 3.17, -0.07] 14 | - start: [11.34, 10.83, -2.99] 15 | name: agent4 16 | goal: [33.17, 5.77, 0.04] 17 | - start: [20.42, 18.38, 2.40] 18 | name: agent5 19 | goal: [27.08, 27.47, -0.20] 20 | - start: [21.46, 27.32, -0.97] 21 | name: agent6 22 | goal: [3.79, 5.82, -1.74] 23 | - start: [26.98, 8.28, -1.65] 24 | name: agent7 25 | goal: [28.17, 3.38, 1.61] 26 | - start: [35.74, 17.82, -3.05] 27 | name: agent8 28 | goal: [5.91, 30.15, -0.80] 29 | - start: [31.24, 38.03, 2.70] 30 | name: agent9 31 | goal: [35.35, 35.83, 1.40] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex54.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [40.84, 27.28, 3.04] 3 | name: agent0 4 | goal: [12.54, 34.35, -0.66] 5 | - start: [34.16, 41.26, -0.36] 6 | name: agent1 7 | goal: [16.63, 38.47, -0.36] 8 | - start: [30.46, 8.77, -1.51] 9 | name: agent2 10 | goal: [44.55, 32.03, 2.11] 11 | - start: [41.98, 7.81, -2.01] 12 | name: agent3 13 | goal: [13.00, 25.64, -0.21] 14 | - start: [39.85, 22.01, 1.05] 15 | name: agent4 16 | goal: [44.31, 20.16, -1.47] 17 | - start: [23.94, 17.58, -1.73] 18 | name: agent5 19 | goal: [32.30, 26.86, 1.23] 20 | - start: [4.88, 7.90, 2.11] 21 | name: agent6 22 | goal: [28.11, 23.98, 1.97] 23 | - start: [16.97, 20.09, 2.64] 24 | name: agent7 25 | goal: [41.53, 39.33, -2.71] 26 | - start: [21.96, 29.07, -2.42] 27 | name: agent8 28 | goal: [15.27, 8.63, 0.74] 29 | - start: [32.20, 33.67, 1.07] 30 | name: agent9 31 | goal: [21.43, 3.51, 0.73] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex55.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [18.41, 4.29, 1.15] 3 | name: agent0 4 | goal: [5.50, 6.80, 0.70] 5 | - start: [8.75, 35.71, 1.85] 6 | name: agent1 7 | goal: [30.94, 14.06, -2.85] 8 | - start: [5.36, 19.74, 2.12] 9 | name: agent2 10 | goal: [33.87, 39.80, -1.26] 11 | - start: [13.67, 30.89, 0.51] 12 | name: agent3 13 | goal: [10.40, 4.25, -0.59] 14 | - start: [19.55, 10.52, -0.65] 15 | name: agent4 16 | goal: [41.80, 39.97, -2.47] 17 | - start: [42.19, 20.62, -1.82] 18 | name: agent5 19 | goal: [43.89, 5.13, 2.10] 20 | - start: [3.86, 36.35, -0.93] 21 | name: agent6 22 | goal: [40.88, 14.20, 0.33] 23 | - start: [13.43, 20.15, -1.44] 24 | name: agent7 25 | goal: [36.99, 26.48, -2.03] 26 | - start: [14.74, 14.91, 0.60] 27 | name: agent8 28 | goal: [5.75, 41.90, -1.48] 29 | - start: [26.09, 3.55, 1.38] 30 | name: agent9 31 | goal: [35.56, 7.76, 1.97] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex56.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [10.63, 17.44, -1.61] 3 | name: agent0 4 | goal: [16.72, 30.63, 2.51] 5 | - start: [13.26, 9.63, -1.44] 6 | name: agent1 7 | goal: [19.22, 20.25, -0.27] 8 | - start: [14.11, 21.26, -2.33] 9 | name: agent2 10 | goal: [23.25, 22.97, -1.17] 11 | - start: [26.66, 19.70, -1.94] 12 | name: agent3 13 | goal: [36.80, 41.09, 2.89] 14 | - start: [33.26, 21.22, 2.88] 15 | name: agent4 16 | goal: [16.53, 40.30, 0.32] 17 | - start: [3.53, 7.68, 0.42] 18 | name: agent5 19 | goal: [39.58, 7.01, -1.90] 20 | - start: [20.30, 15.50, -1.94] 21 | name: agent6 22 | goal: [38.94, 16.99, 1.34] 23 | - start: [23.13, 39.72, -0.71] 24 | name: agent7 25 | goal: [30.03, 11.84, 0.98] 26 | - start: [5.92, 31.37, 0.35] 27 | name: agent8 28 | goal: [18.36, 4.37, -2.58] 29 | - start: [6.46, 26.48, 2.93] 30 | name: agent9 31 | goal: [24.70, 28.35, 2.54] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex57.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [37.06, 15.79, 2.25] 3 | name: agent0 4 | goal: [3.13, 14.37, -0.02] 5 | - start: [23.63, 21.30, -1.09] 6 | name: agent1 7 | goal: [21.85, 38.04, -1.11] 8 | - start: [32.08, 5.06, -1.59] 9 | name: agent2 10 | goal: [36.56, 39.93, -1.60] 11 | - start: [34.57, 24.65, -1.02] 12 | name: agent3 13 | goal: [23.55, 42.62, -0.92] 14 | - start: [8.43, 26.08, 1.86] 15 | name: agent4 16 | goal: [17.11, 32.80, 2.43] 17 | - start: [10.80, 42.12, -3.07] 18 | name: agent5 19 | goal: [30.88, 19.88, 1.66] 20 | - start: [11.72, 10.97, -1.47] 21 | name: agent6 22 | goal: [10.99, 33.61, -1.88] 23 | - start: [17.07, 38.75, 2.57] 24 | name: agent7 25 | goal: [30.56, 37.97, 2.83] 26 | - start: [42.43, 5.20, 2.61] 27 | name: agent8 28 | goal: [3.19, 21.93, -2.78] 29 | - start: [32.49, 10.92, 1.02] 30 | name: agent9 31 | goal: [17.61, 12.65, 0.07] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex58.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [33.30, 38.32, 0.11] 3 | name: agent0 4 | goal: [32.51, 43.69, -1.13] 5 | - start: [27.21, 44.49, -2.11] 6 | name: agent1 7 | goal: [12.66, 36.14, -1.28] 8 | - start: [30.59, 20.68, 0.41] 9 | name: agent2 10 | goal: [22.37, 8.00, -0.58] 11 | - start: [7.62, 13.56, -2.51] 12 | name: agent3 13 | goal: [36.46, 30.96, 0.24] 14 | - start: [15.42, 23.41, 1.91] 15 | name: agent4 16 | goal: [5.74, 23.91, -0.72] 17 | - start: [44.90, 5.60, -2.45] 18 | name: agent5 19 | goal: [17.36, 28.85, -2.11] 20 | - start: [39.86, 13.30, 2.51] 21 | name: agent6 22 | goal: [21.06, 31.64, 1.77] 23 | - start: [24.92, 24.65, 1.06] 24 | name: agent7 25 | goal: [44.21, 42.82, 1.76] 26 | - start: [16.24, 4.25, -0.32] 27 | name: agent8 28 | goal: [17.47, 18.86, -1.22] 29 | - start: [11.96, 9.53, -0.35] 30 | name: agent9 31 | goal: [44.99, 14.95, 2.08] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex59.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [11.01, 13.56, -2.35] 3 | name: agent0 4 | goal: [43.96, 34.36, 1.11] 5 | - start: [28.91, 15.60, 2.83] 6 | name: agent1 7 | goal: [10.20, 22.96, -2.51] 8 | - start: [40.83, 24.53, -2.96] 9 | name: agent2 10 | goal: [23.81, 8.04, 1.12] 11 | - start: [22.75, 34.41, 1.68] 12 | name: agent3 13 | goal: [36.33, 20.84, -1.30] 14 | - start: [30.45, 23.04, -1.90] 15 | name: agent4 16 | goal: [28.25, 43.42, -2.57] 17 | - start: [34.01, 4.38, 0.18] 18 | name: agent5 19 | goal: [22.77, 21.97, 1.73] 20 | - start: [6.86, 16.24, -2.95] 21 | name: agent6 22 | goal: [32.12, 33.84, 0.34] 23 | - start: [16.73, 5.34, 0.32] 24 | name: agent7 25 | goal: [4.13, 36.59, 2.23] 26 | - start: [17.80, 39.97, 1.19] 27 | name: agent8 28 | goal: [35.81, 38.94, 0.52] 29 | - start: [8.13, 44.05, -0.58] 30 | name: agent9 31 | goal: [28.24, 27.81, -0.91] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex6.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [8.98, 22.38, -0.62] 3 | name: agent0 4 | goal: [41.84, 29.69, -0.02] 5 | - start: [39.64, 37.71, 0.80] 6 | name: agent1 7 | goal: [20.05, 6.34, 1.12] 8 | - start: [29.30, 32.54, 2.04] 9 | name: agent2 10 | goal: [37.42, 24.33, 2.93] 11 | - start: [36.38, 5.37, -1.74] 12 | name: agent3 13 | goal: [34.50, 35.06, 2.17] 14 | - start: [16.74, 14.29, 2.32] 15 | name: agent4 16 | goal: [40.03, 11.44, -2.12] 17 | - start: [44.52, 35.87, -0.97] 18 | name: agent5 19 | goal: [31.51, 20.54, 1.24] 20 | - start: [14.52, 19.45, 2.42] 21 | name: agent6 22 | goal: [31.24, 44.97, 1.91] 23 | - start: [3.69, 36.53, 2.39] 24 | name: agent7 25 | goal: [17.97, 41.80, -1.85] 26 | - start: [13.63, 34.67, -1.07] 27 | name: agent8 28 | goal: [30.53, 13.93, 0.56] 29 | - start: [5.17, 7.67, -2.49] 30 | name: agent9 31 | goal: [4.43, 15.37, -1.27] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex7.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [37.50, 3.26, -0.20] 3 | name: agent0 4 | goal: [27.40, 24.96, -0.35] 5 | - start: [35.09, 18.13, -2.50] 6 | name: agent1 7 | goal: [10.15, 15.60, -0.94] 8 | - start: [30.05, 17.21, -2.25] 9 | name: agent2 10 | goal: [5.11, 20.32, -2.56] 11 | - start: [8.00, 8.05, 1.34] 12 | name: agent3 13 | goal: [39.81, 38.88, -1.60] 14 | - start: [34.68, 41.18, 3.10] 15 | name: agent4 16 | goal: [21.27, 7.89, 0.26] 17 | - start: [9.16, 40.44, 0.06] 18 | name: agent5 19 | goal: [17.41, 35.78, 2.96] 20 | - start: [39.88, 7.74, -1.45] 21 | name: agent6 22 | goal: [15.54, 30.16, 1.68] 23 | - start: [24.29, 28.27, -2.58] 24 | name: agent7 25 | goal: [13.86, 25.38, 0.97] 26 | - start: [3.80, 43.45, -0.29] 27 | name: agent8 28 | goal: [43.57, 11.91, 1.34] 29 | - start: [34.22, 11.05, 2.90] 30 | name: agent9 31 | goal: [18.97, 3.79, 0.54] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex8.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [37.25, 17.10, -1.77] 3 | name: agent0 4 | goal: [31.84, 19.55, 0.68] 5 | - start: [6.52, 24.39, 1.06] 6 | name: agent1 7 | goal: [18.11, 44.68, 1.95] 8 | - start: [32.31, 40.13, -2.55] 9 | name: agent2 10 | goal: [38.01, 24.27, 1.51] 11 | - start: [21.31, 3.82, -2.73] 12 | name: agent3 13 | goal: [44.62, 21.10, -1.25] 14 | - start: [23.36, 8.10, -0.92] 15 | name: agent4 16 | goal: [31.34, 44.89, 0.69] 17 | - start: [12.06, 24.41, -1.84] 18 | name: agent5 19 | goal: [27.75, 3.87, -0.29] 20 | - start: [40.97, 7.86, 1.23] 21 | name: agent6 22 | goal: [26.66, 40.60, 2.03] 23 | - start: [33.62, 5.19, 2.32] 24 | name: agent7 25 | goal: [17.54, 22.39, 1.30] 26 | - start: [6.70, 30.26, -1.05] 27 | name: agent8 28 | goal: [4.00, 20.21, 0.62] 29 | - start: [8.04, 16.81, -2.12] 30 | name: agent9 31 | goal: [35.10, 35.42, -0.69] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents10/empty/map_50by50_obst0_agents10_ex9.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [9.47, 8.14, -1.62] 3 | name: agent0 4 | goal: [18.38, 9.31, -0.35] 5 | - start: [7.28, 20.14, 2.25] 6 | name: agent1 7 | goal: [29.21, 24.65, 2.98] 8 | - start: [4.38, 30.33, 1.11] 9 | name: agent2 10 | goal: [6.44, 38.37, -1.54] 11 | - start: [25.87, 3.41, -1.54] 12 | name: agent3 13 | goal: [40.11, 28.96, 0.64] 14 | - start: [13.88, 5.18, -1.65] 15 | name: agent4 16 | goal: [22.29, 22.79, -0.31] 17 | - start: [6.74, 14.07, -1.64] 18 | name: agent5 19 | goal: [34.11, 3.02, 0.89] 20 | - start: [37.62, 35.44, 0.67] 21 | name: agent6 22 | goal: [18.15, 42.86, -1.76] 23 | - start: [27.78, 10.85, -3.12] 24 | name: agent7 25 | goal: [22.17, 30.04, -0.46] 26 | - start: [39.42, 23.91, -3.10] 27 | name: agent8 28 | goal: [41.65, 13.39, 3.00] 29 | - start: [14.03, 34.43, 1.76] 30 | name: agent9 31 | goal: [29.53, 37.32, -0.80] 32 | map: 33 | dimensions: [50, 50] 34 | obstacles: 35 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents15/empty/map_50by50_obst0_agents15_ex0.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [39.76, 27.69, -2.84] 3 | name: agent0 4 | goal: [42.61, 41.14, -1.41] 5 | - start: [24.64, 39.34, -2.35] 6 | name: agent1 7 | goal: [6.17, 8.17, 2.33] 8 | - start: [17.94, 40.91, -0.25] 9 | name: agent2 10 | goal: [23.89, 34.46, -0.43] 11 | - start: [26.25, 12.35, -2.55] 12 | name: agent3 13 | goal: [14.68, 17.93, 0.47] 14 | - start: [30.84, 4.11, -0.66] 15 | name: agent4 16 | goal: [7.45, 19.30, 1.51] 17 | - start: [8.87, 13.05, 1.49] 18 | name: agent5 19 | goal: [28.26, 29.86, 2.63] 20 | - start: [44.39, 26.56, -2.47] 21 | name: agent6 22 | goal: [7.41, 39.19, 0.13] 23 | - start: [21.08, 3.96, -0.06] 24 | name: agent7 25 | goal: [34.28, 14.93, 0.81] 26 | - start: [28.80, 34.83, 2.43] 27 | name: agent8 28 | goal: [35.26, 27.99, 2.00] 29 | - start: [15.55, 33.39, 2.79] 30 | name: agent9 31 | goal: [40.07, 5.03, -2.64] 32 | - start: [24.90, 24.03, -3.00] 33 | name: agent10 34 | goal: [15.41, 28.14, -1.81] 35 | - start: [41.85, 17.73, -2.29] 36 | name: agent11 37 | goal: [22.08, 28.88, 2.35] 38 | - start: [10.12, 5.26, 1.71] 39 | name: agent12 40 | goal: [43.72, 33.53, -2.38] 41 | - start: [3.19, 31.66, 1.73] 42 | name: agent13 43 | goal: [18.49, 24.80, 2.65] 44 | - start: [7.90, 27.58, 1.93] 45 | name: agent14 46 | goal: [21.35, 17.04, -2.93] 47 | map: 48 | dimensions: [50, 50] 49 | obstacles: 50 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents15/empty/map_50by50_obst0_agents15_ex12.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [18.41, 39.02, 1.61] 3 | name: agent0 4 | goal: [36.30, 16.18, 0.96] 5 | - start: [26.42, 37.20, -1.53] 6 | name: agent1 7 | goal: [30.35, 4.88, 1.66] 8 | - start: [42.39, 3.20, -0.42] 9 | name: agent2 10 | goal: [35.51, 36.85, 1.96] 11 | - start: [32.92, 25.31, 0.61] 12 | name: agent3 13 | goal: [43.91, 15.66, 0.96] 14 | - start: [11.73, 10.26, -0.92] 15 | name: agent4 16 | goal: [14.19, 26.90, -3.01] 17 | - start: [26.02, 3.06, -2.23] 18 | name: agent5 19 | goal: [33.67, 42.08, -0.58] 20 | - start: [30.88, 20.18, 1.75] 21 | name: agent6 22 | goal: [40.89, 36.23, -0.02] 23 | - start: [6.78, 31.21, 2.60] 24 | name: agent7 25 | goal: [28.96, 42.47, 1.57] 26 | - start: [6.67, 35.83, 2.85] 27 | name: agent8 28 | goal: [15.54, 42.90, 2.68] 29 | - start: [20.59, 24.33, 1.44] 30 | name: agent9 31 | goal: [7.21, 41.09, 1.41] 32 | - start: [14.84, 21.40, 0.44] 33 | name: agent10 34 | goal: [37.24, 32.38, -0.29] 35 | - start: [20.91, 13.68, -2.61] 36 | name: agent11 37 | goal: [44.00, 21.50, 0.90] 38 | - start: [10.89, 3.70, 1.14] 39 | name: agent12 40 | goal: [19.36, 30.10, 1.21] 41 | - start: [27.99, 32.65, 2.05] 42 | name: agent13 43 | goal: [28.60, 10.62, -0.81] 44 | - start: [43.27, 7.74, 0.30] 45 | name: agent14 46 | goal: [14.72, 35.14, 1.71] 47 | map: 48 | dimensions: [50, 50] 49 | obstacles: 50 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents15/empty/map_50by50_obst0_agents15_ex14.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [37.80, 10.87, -2.71] 3 | name: agent0 4 | goal: [12.40, 3.67, -1.50] 5 | - start: [21.70, 26.31, 1.24] 6 | name: agent1 7 | goal: [8.46, 42.70, 0.14] 8 | - start: [8.76, 28.79, -1.95] 9 | name: agent2 10 | goal: [21.47, 44.14, 0.27] 11 | - start: [7.44, 22.29, 3.11] 12 | name: agent3 13 | goal: [14.11, 19.05, -0.47] 14 | - start: [44.96, 5.63, 2.42] 15 | name: agent4 16 | goal: [7.40, 14.62, 2.57] 17 | - start: [7.87, 5.81, 2.16] 18 | name: agent5 19 | goal: [29.55, 39.85, -2.61] 20 | - start: [18.75, 11.46, -2.99] 21 | name: agent6 22 | goal: [40.00, 34.64, 0.26] 23 | - start: [8.26, 33.72, 2.17] 24 | name: agent7 25 | goal: [36.83, 25.49, -1.06] 26 | - start: [15.84, 32.82, 2.74] 27 | name: agent8 28 | goal: [25.94, 30.26, 2.04] 29 | - start: [19.44, 18.03, 3.03] 30 | name: agent9 31 | goal: [12.58, 11.59, -1.45] 32 | - start: [26.14, 24.05, 1.91] 33 | name: agent10 34 | goal: [44.84, 10.60, 0.38] 35 | - start: [23.18, 6.39, 1.71] 36 | name: agent11 37 | goal: [44.26, 27.05, -1.96] 38 | - start: [31.55, 30.39, -1.79] 39 | name: agent12 40 | goal: [30.90, 35.36, -0.20] 41 | - start: [14.41, 39.50, -1.17] 42 | name: agent13 43 | goal: [4.37, 29.86, 0.53] 44 | - start: [36.16, 18.07, -1.82] 45 | name: agent14 46 | goal: [25.77, 35.33, -0.98] 47 | map: 48 | dimensions: [50, 50] 49 | obstacles: 50 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents15/empty/map_50by50_obst0_agents15_ex18.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [15.33, 25.57, -1.88] 3 | name: agent0 4 | goal: [8.71, 30.44, -0.96] 5 | - start: [42.47, 34.25, 1.72] 6 | name: agent1 7 | goal: [14.01, 41.26, 3.09] 8 | - start: [9.81, 5.77, -1.51] 9 | name: agent2 10 | goal: [24.45, 35.34, 1.66] 11 | - start: [5.89, 43.03, 2.92] 12 | name: agent3 13 | goal: [36.95, 8.04, 1.88] 14 | - start: [41.82, 19.30, 2.63] 15 | name: agent4 16 | goal: [3.44, 10.54, -0.55] 17 | - start: [42.28, 9.12, 1.62] 18 | name: agent5 19 | goal: [20.03, 23.25, 0.44] 20 | - start: [27.69, 25.22, -1.09] 21 | name: agent6 22 | goal: [27.66, 12.09, -0.54] 23 | - start: [34.80, 38.04, -0.90] 24 | name: agent7 25 | goal: [4.90, 3.87, -2.17] 26 | - start: [8.44, 15.49, 2.37] 27 | name: agent8 28 | goal: [16.00, 11.65, 0.05] 29 | - start: [11.70, 35.43, 0.96] 30 | name: agent9 31 | goal: [31.73, 7.32, 2.05] 32 | - start: [27.17, 17.57, 1.54] 33 | name: agent10 34 | goal: [19.92, 8.06, -0.93] 35 | - start: [44.36, 26.97, 1.31] 36 | name: agent11 37 | goal: [39.43, 27.67, -2.76] 38 | - start: [16.93, 19.32, -3.02] 39 | name: agent12 40 | goal: [23.83, 43.24, 0.83] 41 | - start: [41.88, 39.27, 1.50] 42 | name: agent13 43 | goal: [34.80, 29.43, 0.37] 44 | - start: [28.17, 3.09, 2.59] 45 | name: agent14 46 | goal: [37.87, 43.74, -2.20] 47 | map: 48 | dimensions: [50, 50] 49 | obstacles: 50 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents15/empty/map_50by50_obst0_agents15_ex2.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [33.49, 38.35, -0.17] 3 | name: agent0 4 | goal: [41.02, 42.19, -1.31] 5 | - start: [21.32, 23.96, 2.17] 6 | name: agent1 7 | goal: [18.19, 16.22, 1.10] 8 | - start: [33.90, 10.58, -1.67] 9 | name: agent2 10 | goal: [4.47, 7.61, 1.13] 11 | - start: [21.86, 42.87, -1.00] 12 | name: agent3 13 | goal: [11.98, 39.87, 1.00] 14 | - start: [25.13, 34.94, -2.87] 15 | name: agent4 16 | goal: [3.29, 38.81, 1.96] 17 | - start: [9.96, 32.91, 1.19] 18 | name: agent5 19 | goal: [16.34, 5.19, 1.16] 20 | - start: [28.46, 18.56, 0.88] 21 | name: agent6 22 | goal: [21.71, 9.42, -2.57] 23 | - start: [44.88, 25.84, -0.97] 24 | name: agent7 25 | goal: [32.62, 3.74, -3.08] 26 | - start: [5.87, 43.17, 1.50] 27 | name: agent8 28 | goal: [12.70, 19.42, -0.94] 29 | - start: [35.69, 14.97, -2.36] 30 | name: agent9 31 | goal: [9.73, 23.95, 2.86] 32 | - start: [14.04, 44.81, -0.72] 33 | name: agent10 34 | goal: [29.89, 26.52, -0.24] 35 | - start: [20.44, 36.11, -2.78] 36 | name: agent11 37 | goal: [6.83, 3.20, 1.03] 38 | - start: [40.24, 22.66, -2.62] 39 | name: agent12 40 | goal: [34.06, 21.65, 1.24] 41 | - start: [21.43, 4.95, 1.50] 42 | name: agent13 43 | goal: [15.43, 36.06, -1.52] 44 | - start: [19.37, 31.41, 0.64] 45 | name: agent14 46 | goal: [10.48, 10.64, 2.87] 47 | map: 48 | dimensions: [50, 50] 49 | obstacles: 50 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents15/empty/map_50by50_obst0_agents15_ex27.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [9.71, 22.74, 0.69] 3 | name: agent0 4 | goal: [5.24, 28.39, 2.06] 5 | - start: [13.67, 43.10, 0.44] 6 | name: agent1 7 | goal: [13.24, 36.46, -0.56] 8 | - start: [40.94, 40.21, -0.02] 9 | name: agent2 10 | goal: [21.79, 27.01, -0.26] 11 | - start: [25.02, 37.37, -1.55] 12 | name: agent3 13 | goal: [30.71, 31.22, -2.61] 14 | - start: [31.23, 37.19, 0.17] 15 | name: agent4 16 | goal: [6.48, 9.67, -0.08] 17 | - start: [7.91, 44.28, -1.62] 18 | name: agent5 19 | goal: [16.63, 28.11, -0.24] 20 | - start: [32.70, 42.94, 2.69] 21 | name: agent6 22 | goal: [14.58, 13.77, 3.11] 23 | - start: [17.70, 4.72, 1.07] 24 | name: agent7 25 | goal: [36.14, 38.20, 1.65] 26 | - start: [9.13, 5.80, 2.65] 27 | name: agent8 28 | goal: [43.39, 20.66, 1.52] 29 | - start: [38.72, 18.93, -1.60] 30 | name: agent9 31 | goal: [4.64, 39.72, -2.81] 32 | - start: [25.31, 15.82, -2.42] 33 | name: agent10 34 | goal: [24.49, 4.54, 0.49] 35 | - start: [35.64, 6.85, -2.79] 36 | name: agent11 37 | goal: [19.49, 12.81, -1.12] 38 | - start: [44.21, 5.85, 2.03] 39 | name: agent12 40 | goal: [22.14, 22.16, 1.04] 41 | - start: [36.18, 23.18, -1.04] 42 | name: agent13 43 | goal: [4.19, 34.13, -0.45] 44 | - start: [41.14, 32.94, 0.90] 45 | name: agent14 46 | goal: [8.88, 35.15, 2.62] 47 | map: 48 | dimensions: [50, 50] 49 | obstacles: 50 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents15/empty/map_50by50_obst0_agents15_ex38.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [43.35, 35.24, 0.21] 3 | name: agent0 4 | goal: [6.83, 5.08, 1.37] 5 | - start: [42.68, 13.57, 1.43] 6 | name: agent1 7 | goal: [31.92, 29.61, -0.73] 8 | - start: [3.56, 23.01, -0.99] 9 | name: agent2 10 | goal: [6.88, 41.98, 0.33] 11 | - start: [10.84, 25.80, 2.29] 12 | name: agent3 13 | goal: [33.32, 35.75, 1.57] 14 | - start: [28.17, 24.45, -0.22] 15 | name: agent4 16 | goal: [41.59, 3.97, -1.04] 17 | - start: [17.53, 19.39, -1.60] 18 | name: agent5 19 | goal: [11.44, 16.60, -0.57] 20 | - start: [8.29, 36.61, 1.76] 21 | name: agent6 22 | goal: [33.00, 9.82, 2.46] 23 | - start: [24.89, 32.60, 1.60] 24 | name: agent7 25 | goal: [18.89, 11.35, 1.51] 26 | - start: [8.03, 12.64, 1.82] 27 | name: agent8 28 | goal: [28.24, 9.77, 2.55] 29 | - start: [15.19, 24.41, -0.17] 30 | name: agent9 31 | goal: [24.89, 20.34, 1.49] 32 | - start: [26.38, 42.85, 1.71] 33 | name: agent10 34 | goal: [13.97, 12.11, 0.32] 35 | - start: [24.24, 6.38, 1.48] 36 | name: agent11 37 | goal: [44.21, 22.00, 2.42] 38 | - start: [13.01, 36.73, 0.31] 39 | name: agent12 40 | goal: [25.13, 15.28, 2.34] 41 | - start: [38.18, 17.34, 1.35] 42 | name: agent13 43 | goal: [16.75, 32.40, 2.78] 44 | - start: [35.22, 4.56, 2.72] 45 | name: agent14 46 | goal: [18.60, 40.84, -1.80] 47 | map: 48 | dimensions: [50, 50] 49 | obstacles: 50 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents15/empty/map_50by50_obst0_agents15_ex52.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [17.55, 34.37, 0.24] 3 | name: agent0 4 | goal: [26.29, 41.55, 1.12] 5 | - start: [30.33, 30.31, 1.07] 6 | name: agent1 7 | goal: [11.14, 13.51, 1.31] 8 | - start: [21.80, 43.49, 1.59] 9 | name: agent2 10 | goal: [4.13, 29.77, 2.55] 11 | - start: [22.14, 34.20, 0.22] 12 | name: agent3 13 | goal: [4.19, 35.34, -0.09] 14 | - start: [29.38, 22.69, -2.36] 15 | name: agent4 16 | goal: [38.91, 31.53, 1.67] 17 | - start: [43.80, 5.47, 1.33] 18 | name: agent5 19 | goal: [39.30, 12.48, -1.29] 20 | - start: [26.96, 16.43, -0.60] 21 | name: agent6 22 | goal: [44.88, 42.52, 0.11] 23 | - start: [38.67, 25.29, 2.53] 24 | name: agent7 25 | goal: [9.35, 29.54, 0.56] 26 | - start: [18.94, 5.95, 2.65] 27 | name: agent8 28 | goal: [17.39, 16.60, 0.39] 29 | - start: [38.78, 4.04, 3.07] 30 | name: agent9 31 | goal: [26.83, 35.02, -0.05] 32 | - start: [6.21, 4.68, 2.03] 33 | name: agent10 34 | goal: [9.65, 8.21, -2.57] 35 | - start: [24.41, 27.37, 1.13] 36 | name: agent11 37 | goal: [32.83, 25.91, 2.15] 38 | - start: [27.42, 10.91, 0.04] 39 | name: agent12 40 | goal: [32.20, 6.16, 1.47] 41 | - start: [36.97, 37.88, 0.76] 42 | name: agent13 43 | goal: [17.65, 22.28, 1.18] 44 | - start: [5.06, 23.12, 2.43] 45 | name: agent14 46 | goal: [44.18, 24.32, 1.98] 47 | map: 48 | dimensions: [50, 50] 49 | obstacles: 50 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex0.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [31.23, 30.06, 0.98] 3 | name: agent0 4 | goal: [34.40, 6.79, 3.06] 5 | - start: [17.10, 11.57, -2.50] 6 | name: agent1 7 | goal: [11.00, 37.31, 2.11] 8 | - start: [37.51, 31.20, 2.44] 9 | name: agent2 10 | goal: [43.63, 3.23, 1.99] 11 | - start: [27.32, 39.28, -1.40] 12 | name: agent3 13 | goal: [27.85, 11.12, 2.33] 14 | - start: [4.26, 7.33, 1.71] 15 | name: agent4 16 | goal: [27.71, 16.32, -0.41] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex1.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [35.52, 9.42, -0.54] 3 | name: agent0 4 | goal: [28.77, 23.06, -0.01] 5 | - start: [17.56, 37.15, -2.76] 6 | name: agent1 7 | goal: [21.84, 7.84, 1.77] 8 | - start: [13.16, 44.73, 2.82] 9 | name: agent2 10 | goal: [16.63, 20.28, -2.19] 11 | - start: [25.50, 42.85, -1.73] 12 | name: agent3 13 | goal: [44.95, 14.93, -2.68] 14 | - start: [43.94, 35.05, -0.48] 15 | name: agent4 16 | goal: [36.78, 25.39, 0.85] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex10.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [42.88, 10.64, -0.42] 3 | name: agent0 4 | goal: [11.36, 35.31, 0.89] 5 | - start: [13.14, 6.79, 0.50] 6 | name: agent1 7 | goal: [16.57, 10.30, 1.16] 8 | - start: [4.37, 24.71, -1.19] 9 | name: agent2 10 | goal: [25.00, 25.81, 1.83] 11 | - start: [38.49, 12.02, 2.01] 12 | name: agent3 13 | goal: [29.50, 29.05, -1.98] 14 | - start: [10.71, 15.32, 2.47] 15 | name: agent4 16 | goal: [31.39, 12.42, 2.75] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex11.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [8.24, 11.62, 2.72] 3 | name: agent0 4 | goal: [19.86, 44.45, 1.81] 5 | - start: [31.76, 31.10, 1.00] 6 | name: agent1 7 | goal: [17.80, 12.80, -2.25] 8 | - start: [24.27, 41.30, -1.03] 9 | name: agent2 10 | goal: [7.80, 24.08, 2.86] 11 | - start: [43.00, 30.90, -2.58] 12 | name: agent3 13 | goal: [34.26, 18.71, 2.27] 14 | - start: [34.57, 23.80, -2.74] 15 | name: agent4 16 | goal: [39.41, 41.67, -2.52] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex12.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [42.34, 8.10, -0.84] 3 | name: agent0 4 | goal: [5.03, 17.24, 1.93] 5 | - start: [24.20, 30.97, 1.86] 6 | name: agent1 7 | goal: [13.35, 6.79, 0.07] 8 | - start: [32.96, 42.88, 1.33] 9 | name: agent2 10 | goal: [23.86, 21.11, 0.41] 11 | - start: [30.52, 10.25, 1.68] 12 | name: agent3 13 | goal: [13.28, 23.73, 3.10] 14 | - start: [21.18, 15.90, 2.26] 15 | name: agent4 16 | goal: [35.15, 35.48, 0.59] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex13.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [16.38, 29.01, -1.69] 3 | name: agent0 4 | goal: [11.16, 24.25, -2.15] 5 | - start: [44.42, 36.67, 1.74] 6 | name: agent1 7 | goal: [40.27, 24.38, -0.17] 8 | - start: [22.70, 34.61, -2.95] 9 | name: agent2 10 | goal: [8.06, 20.48, -0.19] 11 | - start: [13.64, 38.90, -2.22] 12 | name: agent3 13 | goal: [44.80, 24.39, -2.09] 14 | - start: [17.64, 36.89, 2.78] 15 | name: agent4 16 | goal: [3.93, 41.79, 0.38] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex14.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [6.42, 31.12, -0.28] 3 | name: agent0 4 | goal: [5.94, 9.78, -2.87] 5 | - start: [20.01, 6.14, 0.29] 6 | name: agent1 7 | goal: [4.00, 27.08, -1.75] 8 | - start: [19.91, 16.13, 0.92] 9 | name: agent2 10 | goal: [35.04, 24.25, 3.03] 11 | - start: [10.08, 18.77, -2.06] 12 | name: agent3 13 | goal: [35.44, 35.62, 0.53] 14 | - start: [28.26, 22.89, -0.60] 15 | name: agent4 16 | goal: [27.14, 7.60, 0.24] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex15.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [26.55, 39.44, 1.58] 3 | name: agent0 4 | goal: [7.28, 38.89, -1.04] 5 | - start: [44.40, 28.34, -0.79] 6 | name: agent1 7 | goal: [44.71, 4.33, 1.35] 8 | - start: [43.15, 36.28, -0.57] 9 | name: agent2 10 | goal: [41.34, 15.09, 0.27] 11 | - start: [38.00, 6.23, 0.43] 12 | name: agent3 13 | goal: [40.38, 26.21, -0.15] 14 | - start: [18.20, 32.80, 0.83] 15 | name: agent4 16 | goal: [29.47, 5.95, -1.23] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex16.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [15.63, 3.44, -1.34] 3 | name: agent0 4 | goal: [29.36, 38.12, 0.01] 5 | - start: [4.47, 34.88, -1.49] 6 | name: agent1 7 | goal: [18.67, 34.22, 1.28] 8 | - start: [19.60, 22.16, 0.16] 9 | name: agent2 10 | goal: [6.61, 13.29, -0.36] 11 | - start: [27.00, 7.03, -1.61] 12 | name: agent3 13 | goal: [35.45, 24.49, -2.68] 14 | - start: [19.70, 17.36, -0.07] 15 | name: agent4 16 | goal: [6.90, 40.78, 1.26] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex17.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [33.91, 4.42, 2.49] 3 | name: agent0 4 | goal: [16.39, 8.98, 0.13] 5 | - start: [15.72, 39.79, -2.69] 6 | name: agent1 7 | goal: [4.29, 20.67, -0.13] 8 | - start: [40.26, 29.66, -0.22] 9 | name: agent2 10 | goal: [11.57, 9.27, 1.80] 11 | - start: [9.40, 32.62, 2.89] 12 | name: agent3 13 | goal: [31.14, 32.84, -0.20] 14 | - start: [19.08, 4.38, 2.03] 15 | name: agent4 16 | goal: [35.55, 39.06, 1.05] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex18.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [20.02, 43.17, 1.68] 3 | name: agent0 4 | goal: [19.25, 35.85, 1.91] 5 | - start: [33.57, 29.37, 1.41] 6 | name: agent1 7 | goal: [27.98, 34.76, -2.69] 8 | - start: [6.74, 31.81, -1.91] 9 | name: agent2 10 | goal: [24.41, 9.57, 0.23] 11 | - start: [13.75, 43.74, -2.00] 12 | name: agent3 13 | goal: [44.77, 43.64, -2.89] 14 | - start: [41.96, 39.65, -2.46] 15 | name: agent4 16 | goal: [19.85, 20.93, 0.57] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex19.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [35.48, 20.47, -1.16] 3 | name: agent0 4 | goal: [17.82, 25.76, 0.58] 5 | - start: [41.85, 44.43, 2.99] 6 | name: agent1 7 | goal: [38.45, 28.80, -1.15] 8 | - start: [8.10, 15.67, 2.58] 9 | name: agent2 10 | goal: [19.89, 16.54, 1.88] 11 | - start: [19.24, 35.91, -0.41] 12 | name: agent3 13 | goal: [11.57, 39.99, -2.28] 14 | - start: [27.43, 15.87, -0.09] 15 | name: agent4 16 | goal: [31.18, 43.04, -2.36] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex2.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [40.88, 43.02, -0.21] 3 | name: agent0 4 | goal: [4.50, 20.71, -2.53] 5 | - start: [5.02, 44.26, 0.49] 6 | name: agent1 7 | goal: [16.07, 22.61, 0.62] 8 | - start: [5.85, 29.50, 2.30] 9 | name: agent2 10 | goal: [8.27, 6.71, 1.85] 11 | - start: [11.02, 34.93, -1.36] 12 | name: agent3 13 | goal: [30.32, 23.77, -2.16] 14 | - start: [32.51, 44.36, 0.25] 15 | name: agent4 16 | goal: [21.32, 44.79, 0.26] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex20.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [4.16, 29.60, 0.73] 3 | name: agent0 4 | goal: [30.44, 42.56, -0.51] 5 | - start: [6.22, 34.10, 2.79] 6 | name: agent1 7 | goal: [13.47, 18.73, 0.92] 8 | - start: [29.96, 18.13, -1.77] 9 | name: agent2 10 | goal: [26.71, 8.54, -1.81] 11 | - start: [9.25, 15.68, -2.27] 12 | name: agent3 13 | goal: [21.65, 31.15, -2.72] 14 | - start: [18.02, 18.33, -0.69] 15 | name: agent4 16 | goal: [9.87, 29.27, -2.93] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex21.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [12.35, 12.30, -2.04] 3 | name: agent0 4 | goal: [10.14, 27.49, -0.22] 5 | - start: [31.11, 22.75, -0.05] 6 | name: agent1 7 | goal: [41.02, 7.65, 2.01] 8 | - start: [41.39, 27.15, 1.63] 9 | name: agent2 10 | goal: [6.80, 31.55, 2.27] 11 | - start: [21.06, 16.78, -2.71] 12 | name: agent3 13 | goal: [3.17, 9.37, 0.96] 14 | - start: [27.84, 28.93, -2.40] 15 | name: agent4 16 | goal: [32.96, 6.26, -1.24] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex22.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [33.77, 25.40, 2.20] 3 | name: agent0 4 | goal: [9.94, 32.37, 1.06] 5 | - start: [15.17, 23.37, 2.32] 6 | name: agent1 7 | goal: [19.19, 25.43, -0.30] 8 | - start: [41.34, 22.82, -1.43] 9 | name: agent2 10 | goal: [7.71, 43.95, -1.81] 11 | - start: [21.72, 11.12, 1.40] 12 | name: agent3 13 | goal: [33.24, 37.59, -2.85] 14 | - start: [13.98, 11.21, 2.92] 15 | name: agent4 16 | goal: [38.59, 42.60, 2.03] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex23.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [38.55, 20.42, 2.59] 3 | name: agent0 4 | goal: [32.36, 24.71, 0.35] 5 | - start: [38.78, 14.82, 2.64] 6 | name: agent1 7 | goal: [26.49, 37.74, 3.04] 8 | - start: [31.78, 15.55, 0.50] 9 | name: agent2 10 | goal: [24.48, 44.44, 2.05] 11 | - start: [40.84, 30.25, 0.79] 12 | name: agent3 13 | goal: [44.06, 37.44, 1.04] 14 | - start: [13.50, 24.42, -0.30] 15 | name: agent4 16 | goal: [44.40, 21.40, -0.28] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex24.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [12.35, 3.15, -0.64] 3 | name: agent0 4 | goal: [11.44, 33.42, -0.19] 5 | - start: [9.86, 44.66, -0.26] 6 | name: agent1 7 | goal: [21.04, 21.60, 1.94] 8 | - start: [13.78, 39.44, -0.74] 9 | name: agent2 10 | goal: [25.25, 6.48, -2.84] 11 | - start: [42.25, 43.15, -0.66] 12 | name: agent3 13 | goal: [40.44, 17.21, 0.07] 14 | - start: [38.64, 10.49, 0.48] 15 | name: agent4 16 | goal: [12.18, 9.22, 2.75] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex25.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [25.25, 13.35, 2.90] 3 | name: agent0 4 | goal: [30.16, 36.76, 1.08] 5 | - start: [16.28, 24.26, -1.69] 6 | name: agent1 7 | goal: [31.06, 20.30, -2.39] 8 | - start: [41.83, 37.93, -1.09] 9 | name: agent2 10 | goal: [37.16, 6.15, 0.87] 11 | - start: [43.14, 29.92, -0.70] 12 | name: agent3 13 | goal: [35.73, 12.61, 2.88] 14 | - start: [7.48, 31.01, -0.68] 15 | name: agent4 16 | goal: [5.57, 44.52, 1.51] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex26.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [9.83, 25.36, 2.97] 3 | name: agent0 4 | goal: [41.31, 33.42, 2.26] 5 | - start: [30.10, 13.57, -0.71] 6 | name: agent1 7 | goal: [7.95, 15.65, 0.07] 8 | - start: [40.47, 10.16, -2.79] 9 | name: agent2 10 | goal: [34.58, 41.02, 2.78] 11 | - start: [24.59, 16.10, -1.78] 12 | name: agent3 13 | goal: [23.90, 38.97, 0.84] 14 | - start: [28.53, 32.72, 0.67] 15 | name: agent4 16 | goal: [15.71, 6.51, -0.67] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex27.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [43.24, 24.62, -0.67] 3 | name: agent0 4 | goal: [30.41, 40.72, -0.64] 5 | - start: [41.29, 17.51, 0.62] 6 | name: agent1 7 | goal: [14.87, 24.67, -2.61] 8 | - start: [30.57, 17.30, 0.24] 9 | name: agent2 10 | goal: [22.99, 4.89, -1.62] 11 | - start: [30.13, 4.76, -1.82] 12 | name: agent3 13 | goal: [10.11, 13.19, -3.07] 14 | - start: [26.77, 37.46, 2.63] 15 | name: agent4 16 | goal: [32.45, 29.43, 0.08] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex28.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [5.25, 29.74, -0.10] 3 | name: agent0 4 | goal: [18.42, 40.64, 1.55] 5 | - start: [33.32, 31.46, 0.86] 6 | name: agent1 7 | goal: [20.79, 27.59, -1.34] 8 | - start: [9.71, 34.89, -2.15] 9 | name: agent2 10 | goal: [18.06, 23.38, -1.27] 11 | - start: [33.04, 19.44, 0.30] 12 | name: agent3 13 | goal: [40.44, 4.01, -2.60] 14 | - start: [5.43, 5.67, -1.07] 15 | name: agent4 16 | goal: [39.44, 26.58, 0.90] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex29.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [13.98, 35.73, -1.72] 3 | name: agent0 4 | goal: [4.84, 37.02, 0.86] 5 | - start: [22.28, 17.30, -1.65] 6 | name: agent1 7 | goal: [29.64, 41.30, -1.43] 8 | - start: [38.39, 11.16, -1.64] 9 | name: agent2 10 | goal: [7.25, 41.40, 0.16] 11 | - start: [12.79, 19.87, -0.43] 12 | name: agent3 13 | goal: [41.42, 33.34, 0.62] 14 | - start: [5.66, 23.10, -1.90] 15 | name: agent4 16 | goal: [31.77, 13.71, 1.08] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex3.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [16.76, 18.73, 1.88] 3 | name: agent0 4 | goal: [29.36, 25.84, 2.72] 5 | - start: [13.79, 14.24, -1.77] 6 | name: agent1 7 | goal: [15.81, 7.01, -3.04] 8 | - start: [10.76, 44.57, 2.25] 9 | name: agent2 10 | goal: [38.15, 32.71, -0.17] 11 | - start: [43.22, 18.11, -1.62] 12 | name: agent3 13 | goal: [25.92, 41.68, 0.93] 14 | - start: [4.28, 25.77, 1.63] 15 | name: agent4 16 | goal: [27.54, 3.23, 1.62] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex30.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [9.73, 13.59, 1.85] 3 | name: agent0 4 | goal: [25.13, 22.31, 2.14] 5 | - start: [30.80, 8.62, -1.11] 6 | name: agent1 7 | goal: [21.20, 11.41, 0.73] 8 | - start: [39.08, 36.10, -0.09] 9 | name: agent2 10 | goal: [16.02, 16.33, 2.22] 11 | - start: [29.48, 20.49, -1.49] 12 | name: agent3 13 | goal: [14.85, 26.99, -1.76] 14 | - start: [19.08, 23.07, -2.12] 15 | name: agent4 16 | goal: [36.39, 10.54, 0.23] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex31.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [28.25, 19.47, 0.82] 3 | name: agent0 4 | goal: [39.78, 30.27, -2.38] 5 | - start: [14.89, 36.19, -2.24] 6 | name: agent1 7 | goal: [25.34, 27.51, 1.20] 8 | - start: [7.06, 15.92, 2.47] 9 | name: agent2 10 | goal: [35.94, 38.83, 2.02] 11 | - start: [3.51, 27.48, 1.00] 12 | name: agent3 13 | goal: [34.02, 11.22, -3.04] 14 | - start: [17.05, 40.26, 1.27] 15 | name: agent4 16 | goal: [31.99, 25.16, -0.62] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex32.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [26.24, 34.74, 1.78] 3 | name: agent0 4 | goal: [35.70, 8.53, 1.86] 5 | - start: [18.44, 40.62, -1.90] 6 | name: agent1 7 | goal: [8.63, 3.86, 3.12] 8 | - start: [32.46, 41.52, 1.14] 9 | name: agent2 10 | goal: [31.17, 34.17, 1.41] 11 | - start: [32.39, 20.21, -0.71] 12 | name: agent3 13 | goal: [11.17, 39.51, 2.56] 14 | - start: [23.92, 25.14, 0.98] 15 | name: agent4 16 | goal: [3.88, 40.50, 1.65] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex33.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [11.75, 29.59, -3.00] 3 | name: agent0 4 | goal: [35.28, 33.47, -0.82] 5 | - start: [27.97, 16.57, -2.31] 6 | name: agent1 7 | goal: [4.07, 38.79, 1.08] 8 | - start: [41.76, 25.11, 1.05] 9 | name: agent2 10 | goal: [21.09, 42.12, 0.17] 11 | - start: [29.62, 21.36, 0.15] 12 | name: agent3 13 | goal: [24.52, 27.38, 1.50] 14 | - start: [30.33, 41.29, -1.44] 15 | name: agent4 16 | goal: [35.11, 19.96, -0.49] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex34.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [11.30, 13.14, 2.71] 3 | name: agent0 4 | goal: [4.88, 26.47, 1.22] 5 | - start: [3.01, 43.84, 1.51] 6 | name: agent1 7 | goal: [33.42, 34.38, 0.46] 8 | - start: [38.39, 32.00, -2.33] 9 | name: agent2 10 | goal: [25.47, 43.42, -0.39] 11 | - start: [26.40, 4.73, 1.77] 12 | name: agent3 13 | goal: [41.17, 14.53, -1.66] 14 | - start: [14.87, 19.52, 2.96] 15 | name: agent4 16 | goal: [14.45, 31.19, -0.30] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex35.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [38.73, 3.20, -1.28] 3 | name: agent0 4 | goal: [37.75, 13.93, -0.30] 5 | - start: [25.69, 37.68, -2.86] 6 | name: agent1 7 | goal: [14.18, 5.53, -2.20] 8 | - start: [22.12, 5.22, -0.23] 9 | name: agent2 10 | goal: [18.19, 14.38, -0.93] 11 | - start: [6.22, 11.32, -2.49] 12 | name: agent3 13 | goal: [24.12, 16.50, 2.41] 14 | - start: [38.10, 19.78, -2.90] 15 | name: agent4 16 | goal: [43.57, 18.48, 1.86] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex36.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [42.34, 17.36, -1.64] 3 | name: agent0 4 | goal: [42.72, 24.53, -2.33] 5 | - start: [10.55, 38.13, 0.94] 6 | name: agent1 7 | goal: [39.16, 7.26, 3.00] 8 | - start: [35.86, 17.82, -3.02] 9 | name: agent2 10 | goal: [12.85, 23.94, 0.75] 11 | - start: [20.99, 16.46, -0.97] 12 | name: agent3 13 | goal: [24.18, 28.68, -1.25] 14 | - start: [19.78, 37.69, -0.09] 15 | name: agent4 16 | goal: [5.15, 4.53, -2.17] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex37.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [17.24, 44.04, -1.41] 3 | name: agent0 4 | goal: [3.77, 12.29, -0.74] 5 | - start: [8.23, 36.93, -2.67] 6 | name: agent1 7 | goal: [17.27, 27.32, 3.09] 8 | - start: [41.79, 13.22, 1.97] 9 | name: agent2 10 | goal: [13.56, 32.61, 2.11] 11 | - start: [6.01, 21.38, -0.68] 12 | name: agent3 13 | goal: [36.51, 10.98, -2.72] 14 | - start: [12.79, 14.99, 2.20] 15 | name: agent4 16 | goal: [35.76, 32.07, 0.24] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex38.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [43.99, 19.56, -2.80] 3 | name: agent0 4 | goal: [16.81, 17.64, -2.08] 5 | - start: [26.55, 42.12, -0.98] 6 | name: agent1 7 | goal: [8.51, 42.11, 0.99] 8 | - start: [16.91, 5.94, 2.72] 9 | name: agent2 10 | goal: [44.82, 35.42, 1.17] 11 | - start: [13.00, 42.94, -2.16] 12 | name: agent3 13 | goal: [36.81, 25.35, -0.54] 14 | - start: [5.91, 11.77, -0.42] 15 | name: agent4 16 | goal: [40.46, 11.74, 3.12] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex39.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [29.14, 41.89, -2.95] 3 | name: agent0 4 | goal: [14.72, 38.07, -2.88] 5 | - start: [40.45, 28.51, 1.67] 6 | name: agent1 7 | goal: [44.71, 31.07, -0.87] 8 | - start: [38.09, 17.78, -0.29] 9 | name: agent2 10 | goal: [7.12, 16.42, -2.52] 11 | - start: [27.42, 6.33, 1.14] 12 | name: agent3 13 | goal: [43.78, 15.80, 1.93] 14 | - start: [7.29, 36.23, 0.72] 15 | name: agent4 16 | goal: [41.78, 34.77, -3.13] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex4.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [14.77, 11.34, 1.62] 3 | name: agent0 4 | goal: [28.83, 32.78, -0.37] 5 | - start: [23.56, 14.90, -1.02] 6 | name: agent1 7 | goal: [39.99, 23.48, -2.08] 8 | - start: [4.95, 13.22, -2.73] 9 | name: agent2 10 | goal: [26.34, 20.22, -2.33] 11 | - start: [8.12, 40.75, -1.14] 12 | name: agent3 13 | goal: [7.38, 27.53, 1.32] 14 | - start: [33.89, 17.91, -0.65] 15 | name: agent4 16 | goal: [17.74, 41.32, -3.11] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex40.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [41.17, 44.90, 0.38] 3 | name: agent0 4 | goal: [12.25, 21.83, -0.97] 5 | - start: [7.67, 14.27, 2.01] 6 | name: agent1 7 | goal: [12.73, 28.58, -2.28] 8 | - start: [12.66, 34.53, -0.31] 9 | name: agent2 10 | goal: [32.71, 26.60, 3.13] 11 | - start: [16.62, 37.57, -3.02] 12 | name: agent3 13 | goal: [37.29, 17.99, -1.50] 14 | - start: [27.22, 38.95, 0.05] 15 | name: agent4 16 | goal: [16.15, 43.88, -1.22] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex41.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [5.51, 22.68, 0.11] 3 | name: agent0 4 | goal: [6.68, 10.81, -3.00] 5 | - start: [38.08, 41.99, 1.31] 6 | name: agent1 7 | goal: [13.88, 28.00, -1.62] 8 | - start: [13.33, 14.91, 1.87] 9 | name: agent2 10 | goal: [32.56, 17.22, 0.33] 11 | - start: [42.94, 36.47, -0.43] 12 | name: agent3 13 | goal: [34.57, 6.21, 2.42] 14 | - start: [21.60, 38.62, -0.35] 15 | name: agent4 16 | goal: [17.69, 10.46, 1.16] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex42.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [40.04, 16.62, 0.26] 3 | name: agent0 4 | goal: [25.70, 40.12, -1.39] 5 | - start: [7.51, 18.54, -1.21] 6 | name: agent1 7 | goal: [18.52, 13.95, -2.69] 8 | - start: [17.25, 44.66, 2.74] 9 | name: agent2 10 | goal: [11.22, 33.60, 1.17] 11 | - start: [22.64, 34.99, -2.59] 12 | name: agent3 13 | goal: [43.93, 25.03, 2.90] 14 | - start: [35.62, 25.63, -0.18] 15 | name: agent4 16 | goal: [3.23, 42.45, -0.84] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex43.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [20.89, 11.55, 0.71] 3 | name: agent0 4 | goal: [35.61, 15.73, 2.72] 5 | - start: [26.32, 30.69, 1.98] 6 | name: agent1 7 | goal: [30.80, 6.97, 0.00] 8 | - start: [35.85, 33.34, -1.53] 9 | name: agent2 10 | goal: [12.16, 28.95, 3.06] 11 | - start: [7.04, 38.66, -0.91] 12 | name: agent3 13 | goal: [6.95, 32.45, -0.51] 14 | - start: [38.21, 21.11, 1.27] 15 | name: agent4 16 | goal: [39.22, 5.49, 1.89] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex44.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [42.30, 28.90, -1.69] 3 | name: agent0 4 | goal: [16.77, 4.66, 0.12] 5 | - start: [16.09, 39.13, -2.91] 6 | name: agent1 7 | goal: [44.16, 9.74, -0.52] 8 | - start: [33.11, 14.89, 1.22] 9 | name: agent2 10 | goal: [5.85, 21.67, 2.83] 11 | - start: [41.91, 22.50, -1.79] 12 | name: agent3 13 | goal: [21.92, 44.58, 1.70] 14 | - start: [27.24, 3.53, -2.26] 15 | name: agent4 16 | goal: [3.95, 6.80, 2.97] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex45.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [36.70, 24.08, 3.13] 3 | name: agent0 4 | goal: [41.98, 6.92, 0.93] 5 | - start: [24.75, 35.51, 1.75] 6 | name: agent1 7 | goal: [33.18, 43.81, 2.73] 8 | - start: [21.83, 23.76, -1.65] 9 | name: agent2 10 | goal: [34.21, 7.50, -2.54] 11 | - start: [13.92, 41.07, 0.70] 12 | name: agent3 13 | goal: [40.53, 38.02, -1.25] 14 | - start: [17.50, 20.72, 1.21] 15 | name: agent4 16 | goal: [16.51, 29.37, -2.06] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex46.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [42.61, 28.37, -1.53] 3 | name: agent0 4 | goal: [24.44, 35.79, -2.64] 5 | - start: [18.46, 38.50, 0.18] 6 | name: agent1 7 | goal: [38.92, 40.40, -2.33] 8 | - start: [29.40, 5.07, -1.84] 9 | name: agent2 10 | goal: [24.81, 20.11, -1.97] 11 | - start: [36.20, 19.21, -1.96] 12 | name: agent3 13 | goal: [31.10, 25.56, 1.95] 14 | - start: [11.19, 42.28, 3.01] 15 | name: agent4 16 | goal: [9.47, 28.52, 1.57] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex47.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [40.10, 17.49, -2.00] 3 | name: agent0 4 | goal: [20.69, 10.70, 0.85] 5 | - start: [22.83, 18.73, -2.76] 6 | name: agent1 7 | goal: [31.60, 43.59, -1.72] 8 | - start: [25.66, 42.01, 2.85] 9 | name: agent2 10 | goal: [35.03, 20.14, -0.49] 11 | - start: [13.67, 31.12, 1.52] 12 | name: agent3 13 | goal: [14.29, 5.30, 2.23] 14 | - start: [6.72, 35.99, 0.72] 15 | name: agent4 16 | goal: [10.74, 12.96, 1.16] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex48.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [29.25, 36.68, 2.68] 3 | name: agent0 4 | goal: [36.92, 43.06, -0.89] 5 | - start: [44.40, 39.60, -1.20] 6 | name: agent1 7 | goal: [42.13, 20.95, -0.36] 8 | - start: [14.86, 13.71, 0.15] 9 | name: agent2 10 | goal: [8.68, 6.29, 1.52] 11 | - start: [15.09, 9.02, -2.88] 12 | name: agent3 13 | goal: [25.54, 25.32, -1.99] 14 | - start: [21.67, 20.21, 1.61] 15 | name: agent4 16 | goal: [18.11, 37.97, 0.24] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex49.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [29.03, 15.94, 2.70] 3 | name: agent0 4 | goal: [23.22, 11.07, 2.66] 5 | - start: [10.87, 14.22, -0.94] 6 | name: agent1 7 | goal: [17.23, 13.64, -2.71] 8 | - start: [23.35, 35.38, -0.11] 9 | name: agent2 10 | goal: [15.53, 8.83, -0.11] 11 | - start: [5.90, 4.66, -0.98] 12 | name: agent3 13 | goal: [21.82, 41.05, -0.79] 14 | - start: [8.78, 44.07, -1.56] 15 | name: agent4 16 | goal: [17.15, 37.24, -0.65] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex5.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [5.06, 3.21, 1.82] 3 | name: agent0 4 | goal: [41.93, 3.62, -3.05] 5 | - start: [17.89, 29.78, -2.50] 6 | name: agent1 7 | goal: [33.33, 16.74, 0.52] 8 | - start: [5.62, 30.55, 2.25] 9 | name: agent2 10 | goal: [7.73, 9.48, -0.47] 11 | - start: [41.26, 38.08, -1.44] 12 | name: agent3 13 | goal: [41.71, 13.58, -0.08] 14 | - start: [27.15, 20.46, 0.58] 15 | name: agent4 16 | goal: [36.22, 3.51, -2.42] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex50.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [3.69, 39.80, -0.37] 3 | name: agent0 4 | goal: [13.15, 18.80, 0.68] 5 | - start: [41.50, 16.39, 1.79] 6 | name: agent1 7 | goal: [7.65, 21.79, -1.20] 8 | - start: [33.59, 26.39, 2.68] 9 | name: agent2 10 | goal: [13.21, 44.44, -0.56] 11 | - start: [17.83, 14.64, -2.01] 12 | name: agent3 13 | goal: [5.70, 26.38, -2.53] 14 | - start: [23.06, 30.00, -2.12] 15 | name: agent4 16 | goal: [33.29, 40.62, 1.10] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex51.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [15.27, 8.83, -0.82] 3 | name: agent0 4 | goal: [38.08, 21.74, -0.32] 5 | - start: [37.11, 29.10, -0.50] 6 | name: agent1 7 | goal: [3.62, 33.51, -0.65] 8 | - start: [24.81, 15.71, -1.91] 9 | name: agent2 10 | goal: [26.12, 22.83, 0.34] 11 | - start: [37.59, 39.60, -2.60] 12 | name: agent3 13 | goal: [35.51, 10.70, -0.00] 14 | - start: [10.89, 20.47, -2.24] 15 | name: agent4 16 | goal: [10.22, 14.26, 2.43] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex52.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [20.85, 43.46, -1.59] 3 | name: agent0 4 | goal: [41.02, 13.59, -2.54] 5 | - start: [25.75, 3.99, 0.82] 6 | name: agent1 7 | goal: [32.26, 27.78, -2.75] 8 | - start: [6.63, 30.87, -1.78] 9 | name: agent2 10 | goal: [37.73, 31.87, 2.60] 11 | - start: [17.46, 24.24, -1.25] 12 | name: agent3 13 | goal: [16.47, 32.40, -1.43] 14 | - start: [34.90, 16.09, -2.18] 15 | name: agent4 16 | goal: [4.31, 17.74, 3.14] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex53.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [37.89, 40.87, 0.09] 3 | name: agent0 4 | goal: [13.33, 18.47, -0.63] 5 | - start: [44.71, 13.74, 1.19] 6 | name: agent1 7 | goal: [4.79, 38.14, -1.19] 8 | - start: [32.55, 39.25, 0.78] 9 | name: agent2 10 | goal: [21.81, 5.20, 1.32] 11 | - start: [18.82, 23.19, 1.30] 12 | name: agent3 13 | goal: [4.60, 16.89, 1.60] 14 | - start: [6.75, 42.66, 2.83] 15 | name: agent4 16 | goal: [41.80, 35.76, 1.28] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex54.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [28.49, 17.20, -0.15] 3 | name: agent0 4 | goal: [19.36, 29.20, -2.25] 5 | - start: [15.99, 10.26, -2.28] 6 | name: agent1 7 | goal: [20.54, 13.57, 0.20] 8 | - start: [38.30, 3.62, -0.31] 9 | name: agent2 10 | goal: [34.23, 42.69, -0.46] 11 | - start: [3.73, 15.89, 1.97] 12 | name: agent3 13 | goal: [40.48, 19.32, -0.98] 14 | - start: [20.70, 24.61, -0.72] 15 | name: agent4 16 | goal: [20.25, 38.98, 0.95] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex55.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [15.14, 7.41, -2.95] 3 | name: agent0 4 | goal: [41.79, 41.21, 0.42] 5 | - start: [17.81, 25.43, -1.26] 6 | name: agent1 7 | goal: [44.76, 17.35, 2.05] 8 | - start: [11.80, 38.77, 0.35] 9 | name: agent2 10 | goal: [3.67, 44.44, -0.04] 11 | - start: [19.78, 7.46, 2.14] 12 | name: agent3 13 | goal: [41.29, 6.43, 2.15] 14 | - start: [28.11, 16.10, 1.49] 15 | name: agent4 16 | goal: [37.46, 37.65, -1.21] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex56.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [43.42, 39.06, 2.29] 3 | name: agent0 4 | goal: [20.15, 24.87, -2.07] 5 | - start: [20.76, 16.69, -0.85] 6 | name: agent1 7 | goal: [28.82, 41.48, 2.20] 8 | - start: [18.80, 4.56, 0.25] 9 | name: agent2 10 | goal: [35.57, 21.37, 0.97] 11 | - start: [18.13, 20.62, -1.95] 12 | name: agent3 13 | goal: [16.12, 36.28, 0.67] 14 | - start: [31.81, 36.51, -2.03] 15 | name: agent4 16 | goal: [12.50, 44.36, -1.11] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex57.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [44.98, 28.26, 0.11] 3 | name: agent0 4 | goal: [10.71, 30.61, 2.03] 5 | - start: [23.81, 27.74, -0.08] 6 | name: agent1 7 | goal: [18.63, 30.45, 0.95] 8 | - start: [20.28, 39.22, -2.87] 9 | name: agent2 10 | goal: [41.14, 32.54, -2.21] 11 | - start: [27.91, 29.79, 2.65] 12 | name: agent3 13 | goal: [44.63, 19.86, 2.09] 14 | - start: [9.98, 23.28, 2.99] 15 | name: agent4 16 | goal: [35.20, 8.73, 0.06] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex58.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [4.10, 8.23, 2.32] 3 | name: agent0 4 | goal: [24.71, 9.01, 0.69] 5 | - start: [39.26, 3.97, -2.15] 6 | name: agent1 7 | goal: [28.26, 23.14, -2.85] 8 | - start: [8.73, 12.19, -1.45] 9 | name: agent2 10 | goal: [28.47, 12.93, 1.19] 11 | - start: [6.54, 23.41, -2.60] 12 | name: agent3 13 | goal: [36.26, 12.74, 1.81] 14 | - start: [27.52, 4.76, 0.71] 15 | name: agent4 16 | goal: [32.58, 21.67, -1.43] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex59.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [30.19, 42.57, -0.19] 3 | name: agent0 4 | goal: [40.73, 16.74, 0.00] 5 | - start: [38.85, 37.38, 1.65] 6 | name: agent1 7 | goal: [44.61, 32.41, 0.58] 8 | - start: [11.25, 16.04, 0.62] 9 | name: agent2 10 | goal: [32.64, 3.17, -0.84] 11 | - start: [23.00, 37.57, 0.09] 12 | name: agent3 13 | goal: [16.46, 34.75, 0.35] 14 | - start: [7.06, 36.19, -2.14] 15 | name: agent4 16 | goal: [29.72, 37.28, -2.00] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex6.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [23.55, 18.58, 0.25] 3 | name: agent0 4 | goal: [13.11, 24.05, 2.53] 5 | - start: [33.95, 25.78, 2.91] 6 | name: agent1 7 | goal: [35.67, 8.98, -0.01] 8 | - start: [17.76, 34.85, 2.07] 9 | name: agent2 10 | goal: [19.49, 5.65, -0.72] 11 | - start: [6.45, 27.59, 1.42] 12 | name: agent3 13 | goal: [27.71, 12.92, 2.51] 14 | - start: [6.70, 39.71, 2.12] 15 | name: agent4 16 | goal: [40.55, 34.34, -1.68] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex7.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [21.76, 28.46, -2.32] 3 | name: agent0 4 | goal: [5.43, 13.36, 1.24] 5 | - start: [40.04, 24.34, -1.25] 6 | name: agent1 7 | goal: [28.41, 17.00, -1.00] 8 | - start: [22.31, 36.85, 0.97] 9 | name: agent2 10 | goal: [5.05, 18.34, 1.16] 11 | - start: [26.87, 3.32, 1.70] 12 | name: agent3 13 | goal: [3.81, 23.24, -2.41] 14 | - start: [22.19, 23.57, -1.06] 15 | name: agent4 16 | goal: [28.53, 27.86, 0.54] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex8.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [32.77, 12.22, 0.03] 3 | name: agent0 4 | goal: [18.38, 40.52, 2.36] 5 | - start: [28.77, 23.09, -2.58] 6 | name: agent1 7 | goal: [29.18, 44.51, -1.69] 8 | - start: [33.17, 17.32, 2.66] 9 | name: agent2 10 | goal: [33.89, 27.66, -2.93] 11 | - start: [24.09, 30.46, -1.92] 12 | name: agent3 13 | goal: [5.97, 15.59, -2.29] 14 | - start: [42.02, 21.67, -0.47] 15 | name: agent4 16 | goal: [39.22, 36.61, -3.07] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/empty/map_50by50_obst0_agents5_ex9.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [7.00, 36.79, 0.85] 3 | name: agent0 4 | goal: [43.51, 37.62, -2.48] 5 | - start: [41.38, 27.85, 1.68] 6 | name: agent1 7 | goal: [33.75, 44.95, -2.43] 8 | - start: [22.39, 29.93, -2.85] 9 | name: agent2 10 | goal: [10.32, 26.82, 0.68] 11 | - start: [43.85, 11.48, 2.09] 12 | name: agent3 13 | goal: [36.48, 39.50, -0.01] 14 | - start: [33.73, 21.81, -2.08] 15 | name: agent4 16 | goal: [17.82, 15.66, 0.63] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex0.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [7.74, 8.96, 0.71] 3 | name: agent0 4 | goal: [17.22, 31.70, -2.55] 5 | - start: [44.26, 26.91, -0.03] 6 | name: agent1 7 | goal: [5.89, 26.21, -1.87] 8 | - start: [34.15, 33.30, 2.22] 9 | name: agent2 10 | goal: [28.84, 24.80, -2.75] 11 | - start: [29.39, 14.28, -3.09] 12 | name: agent3 13 | goal: [14.48, 24.53, -2.90] 14 | - start: [4.61, 40.68, 1.05] 15 | name: agent4 16 | goal: [41.32, 33.07, 2.73] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [43.51, 6.64, 0.80] 21 | - [43.97, 23.38, 0.80] 22 | - [22.35, 28.60, 0.80] 23 | - [17.43, 35.68, 0.80] 24 | - [49.07, 7.00, 0.80] 25 | - [4.67, 8.93, 0.80] 26 | - [2.44, 22.41, 0.80] 27 | - [41.29, 36.61, 0.80] 28 | - [18.83, 8.95, 0.80] 29 | - [35.49, 48.57, 0.80] 30 | - [24.18, 8.75, 0.80] 31 | - [9.80, 23.26, 0.80] 32 | - [41.18, 13.71, 0.80] 33 | - [28.37, 20.73, 0.80] 34 | - [28.45, 43.48, 0.80] 35 | - [39.96, 45.63, 0.80] 36 | - [34.29, 23.64, 0.80] 37 | - [6.26, 29.88, 0.80] 38 | - [21.62, 42.41, 0.80] 39 | - [20.48, 24.65, 0.80] 40 | - [47.04, 41.26, 0.80] 41 | - [15.81, 40.84, 0.80] 42 | - [13.70, 11.53, 0.80] 43 | - [26.38, 4.98, 0.80] 44 | - [29.50, 10.94, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex1.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [8.53, 4.57, 1.53] 3 | name: agent0 4 | goal: [5.16, 18.29, 0.90] 5 | - start: [27.74, 6.99, -0.50] 6 | name: agent1 7 | goal: [6.06, 26.65, -2.01] 8 | - start: [38.65, 4.34, 2.00] 9 | name: agent2 10 | goal: [9.85, 20.32, 1.65] 11 | - start: [43.14, 20.17, 2.71] 12 | name: agent3 13 | goal: [19.63, 28.23, 2.96] 14 | - start: [28.94, 12.94, -1.88] 15 | name: agent4 16 | goal: [14.76, 23.06, -1.16] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [1.00, 18.47, 0.80] 21 | - [26.54, 36.43, 0.80] 22 | - [46.71, 33.30, 0.80] 23 | - [39.05, 21.75, 0.80] 24 | - [32.43, 39.12, 0.80] 25 | - [34.20, 2.72, 0.80] 26 | - [24.78, 27.60, 0.80] 27 | - [44.94, 7.90, 0.80] 28 | - [1.63, 24.50, 0.80] 29 | - [31.36, 10.69, 0.80] 30 | - [32.00, 34.29, 0.80] 31 | - [8.58, 46.89, 0.80] 32 | - [13.93, 14.89, 0.80] 33 | - [13.49, 43.07, 0.80] 34 | - [25.86, 15.63, 0.80] 35 | - [7.22, 42.69, 0.80] 36 | - [9.12, 34.65, 0.80] 37 | - [37.46, 42.11, 0.80] 38 | - [14.36, 29.87, 0.80] 39 | - [1.91, 40.78, 0.80] 40 | - [27.64, 43.15, 0.80] 41 | - [13.53, 48.46, 0.80] 42 | - [21.98, 33.42, 0.80] 43 | - [43.39, 30.56, 0.80] 44 | - [22.46, 5.16, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex10.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [19.00, 37.81, -0.15] 3 | name: agent0 4 | goal: [16.94, 8.16, 1.24] 5 | - start: [10.47, 37.56, 0.01] 6 | name: agent1 7 | goal: [13.20, 44.97, -1.23] 8 | - start: [4.10, 27.25, -0.88] 9 | name: agent2 10 | goal: [6.74, 15.58, 1.11] 11 | - start: [30.38, 36.17, -2.12] 12 | name: agent3 13 | goal: [18.37, 22.09, 2.26] 14 | - start: [37.75, 36.98, -1.41] 15 | name: agent4 16 | goal: [36.56, 7.76, -1.85] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [45.34, 15.18, 0.80] 21 | - [39.80, 10.29, 0.80] 22 | - [22.93, 30.27, 0.80] 23 | - [34.18, 14.88, 0.80] 24 | - [40.78, 38.01, 0.80] 25 | - [9.71, 4.98, 0.80] 26 | - [48.79, 34.37, 0.80] 27 | - [37.95, 20.83, 0.80] 28 | - [45.42, 24.39, 0.80] 29 | - [11.08, 8.66, 0.80] 30 | - [7.14, 35.04, 0.80] 31 | - [38.26, 48.11, 0.80] 32 | - [22.04, 43.19, 0.80] 33 | - [16.32, 11.40, 0.80] 34 | - [30.47, 2.45, 0.80] 35 | - [5.11, 19.57, 0.80] 36 | - [11.43, 33.05, 0.80] 37 | - [44.20, 30.70, 0.80] 38 | - [27.88, 45.74, 0.80] 39 | - [19.85, 11.66, 0.80] 40 | - [38.79, 4.28, 0.80] 41 | - [10.92, 19.74, 0.80] 42 | - [3.14, 23.65, 0.80] 43 | - [26.50, 23.49, 0.80] 44 | - [7.86, 28.98, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex11.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [17.38, 17.34, 2.48] 3 | name: agent0 4 | goal: [27.20, 37.93, -3.05] 5 | - start: [22.57, 5.67, 2.20] 6 | name: agent1 7 | goal: [6.87, 31.38, 0.68] 8 | - start: [5.98, 44.68, -0.61] 9 | name: agent2 10 | goal: [42.04, 20.97, 1.03] 11 | - start: [26.65, 20.73, -2.59] 12 | name: agent3 13 | goal: [44.38, 32.94, -1.11] 14 | - start: [32.07, 12.88, -1.89] 15 | name: agent4 16 | goal: [3.89, 17.97, 1.34] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [33.32, 20.90, 0.80] 21 | - [10.92, 22.29, 0.80] 22 | - [13.58, 6.93, 0.80] 23 | - [27.39, 46.85, 0.80] 24 | - [6.49, 19.76, 0.80] 25 | - [13.70, 19.29, 0.80] 26 | - [44.50, 46.47, 0.80] 27 | - [40.96, 40.75, 0.80] 28 | - [22.46, 20.31, 0.80] 29 | - [24.10, 14.43, 0.80] 30 | - [8.94, 5.66, 0.80] 31 | - [3.08, 6.97, 0.80] 32 | - [14.59, 26.15, 0.80] 33 | - [2.17, 34.76, 0.80] 34 | - [37.92, 20.18, 0.80] 35 | - [23.27, 25.82, 0.80] 36 | - [38.52, 30.81, 0.80] 37 | - [18.85, 10.67, 0.80] 38 | - [15.24, 42.71, 0.80] 39 | - [15.32, 36.07, 0.80] 40 | - [15.27, 31.04, 0.80] 41 | - [36.45, 25.76, 0.80] 42 | - [34.79, 40.88, 0.80] 43 | - [1.73, 28.66, 0.80] 44 | - [21.35, 36.47, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex12.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [13.95, 8.06, 2.73] 3 | name: agent0 4 | goal: [22.49, 5.13, 2.72] 5 | - start: [43.61, 15.42, 2.20] 6 | name: agent1 7 | goal: [30.87, 33.20, 2.74] 8 | - start: [10.58, 37.68, -1.91] 9 | name: agent2 10 | goal: [26.76, 23.46, -2.02] 11 | - start: [19.46, 18.38, -0.35] 12 | name: agent3 13 | goal: [40.53, 6.87, 1.84] 14 | - start: [10.46, 43.00, 0.18] 15 | name: agent4 16 | goal: [31.29, 18.92, 0.31] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [37.95, 15.73, 0.80] 21 | - [42.91, 27.48, 0.80] 22 | - [39.50, 42.65, 0.80] 23 | - [22.61, 36.95, 0.80] 24 | - [46.12, 47.33, 0.80] 25 | - [43.74, 42.61, 0.80] 26 | - [13.56, 13.77, 0.80] 27 | - [32.51, 36.71, 0.80] 28 | - [18.41, 26.97, 0.80] 29 | - [12.94, 29.40, 0.80] 30 | - [44.68, 1.58, 0.80] 31 | - [14.48, 42.71, 0.80] 32 | - [6.66, 29.30, 0.80] 33 | - [16.73, 16.06, 0.80] 34 | - [3.48, 41.26, 0.80] 35 | - [20.06, 11.16, 0.80] 36 | - [33.73, 48.22, 0.80] 37 | - [4.67, 48.80, 0.80] 38 | - [22.53, 48.01, 0.80] 39 | - [14.25, 22.46, 0.80] 40 | - [30.48, 40.87, 0.80] 41 | - [42.80, 33.95, 0.80] 42 | - [11.85, 5.09, 0.80] 43 | - [22.81, 14.13, 0.80] 44 | - [27.03, 16.59, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex13.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [34.16, 39.96, -0.93] 3 | name: agent0 4 | goal: [34.31, 26.34, 2.26] 5 | - start: [43.97, 43.86, -1.05] 6 | name: agent1 7 | goal: [19.27, 42.58, 0.04] 8 | - start: [33.37, 5.22, 3.02] 9 | name: agent2 10 | goal: [37.91, 15.97, -2.67] 11 | - start: [10.63, 35.52, -2.16] 12 | name: agent3 13 | goal: [41.34, 11.87, -0.52] 14 | - start: [19.32, 15.47, 1.13] 15 | name: agent4 16 | goal: [14.33, 17.28, -1.91] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [18.38, 46.74, 0.80] 21 | - [7.38, 31.58, 0.80] 22 | - [22.70, 22.43, 0.80] 23 | - [41.29, 28.47, 0.80] 24 | - [19.35, 22.81, 0.80] 25 | - [24.54, 32.84, 0.80] 26 | - [47.02, 4.09, 0.80] 27 | - [3.22, 41.43, 0.80] 28 | - [9.02, 16.96, 0.80] 29 | - [9.71, 45.44, 0.80] 30 | - [34.82, 46.03, 0.80] 31 | - [12.33, 8.84, 0.80] 32 | - [16.56, 7.34, 0.80] 33 | - [36.36, 30.65, 0.80] 34 | - [27.50, 45.14, 0.80] 35 | - [6.89, 25.01, 0.80] 36 | - [48.93, 31.77, 0.80] 37 | - [30.79, 19.81, 0.80] 38 | - [45.62, 7.75, 0.80] 39 | - [45.45, 17.36, 0.80] 40 | - [39.16, 19.17, 0.80] 41 | - [33.24, 1.39, 0.80] 42 | - [38.94, 33.47, 0.80] 43 | - [15.24, 29.24, 0.80] 44 | - [41.27, 8.40, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex14.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [37.94, 5.32, 2.06] 3 | name: agent0 4 | goal: [17.85, 42.20, 1.71] 5 | - start: [21.10, 32.51, -2.53] 6 | name: agent1 7 | goal: [19.34, 15.98, -2.95] 8 | - start: [34.56, 36.35, -2.60] 9 | name: agent2 10 | goal: [15.81, 9.70, 1.90] 11 | - start: [27.32, 31.63, 2.50] 12 | name: agent3 13 | goal: [10.05, 22.65, 0.37] 14 | - start: [42.07, 14.17, -1.21] 15 | name: agent4 16 | goal: [9.67, 7.31, -2.99] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [7.34, 34.57, 0.80] 21 | - [14.24, 21.26, 0.80] 22 | - [43.94, 9.56, 0.80] 23 | - [4.97, 5.96, 0.80] 24 | - [46.78, 1.91, 0.80] 25 | - [40.10, 30.63, 0.80] 26 | - [33.89, 28.86, 0.80] 27 | - [32.77, 25.79, 0.80] 28 | - [26.82, 12.81, 0.80] 29 | - [36.59, 20.97, 0.80] 30 | - [34.44, 7.68, 0.80] 31 | - [31.77, 44.92, 0.80] 32 | - [38.42, 44.43, 0.80] 33 | - [31.29, 21.07, 0.80] 34 | - [22.36, 28.88, 0.80] 35 | - [4.56, 14.33, 0.80] 36 | - [2.88, 44.50, 0.80] 37 | - [15.84, 47.17, 0.80] 38 | - [44.89, 28.94, 0.80] 39 | - [11.59, 38.90, 0.80] 40 | - [2.65, 39.20, 0.80] 41 | - [4.02, 18.16, 0.80] 42 | - [10.87, 32.24, 0.80] 43 | - [44.49, 44.27, 0.80] 44 | - [8.11, 38.88, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex15.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [12.07, 12.95, 1.21] 3 | name: agent0 4 | goal: [5.91, 44.99, -1.62] 5 | - start: [14.37, 22.19, 1.01] 6 | name: agent1 7 | goal: [17.81, 26.34, -0.36] 8 | - start: [20.96, 11.80, -2.77] 9 | name: agent2 10 | goal: [35.19, 21.48, 0.84] 11 | - start: [10.26, 37.60, -2.96] 12 | name: agent3 13 | goal: [5.02, 21.56, 2.52] 14 | - start: [30.79, 22.45, 1.83] 15 | name: agent4 16 | goal: [8.24, 7.57, -1.29] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [23.73, 43.20, 0.80] 21 | - [22.32, 5.33, 0.80] 22 | - [37.70, 14.25, 0.80] 23 | - [24.18, 26.36, 0.80] 24 | - [12.67, 33.88, 0.80] 25 | - [9.18, 31.93, 0.80] 26 | - [10.61, 3.99, 0.80] 27 | - [33.26, 29.55, 0.80] 28 | - [25.24, 31.13, 0.80] 29 | - [43.01, 28.44, 0.80] 30 | - [47.46, 32.82, 0.80] 31 | - [42.45, 46.52, 0.80] 32 | - [47.04, 48.01, 0.80] 33 | - [45.90, 22.38, 0.80] 34 | - [24.76, 16.45, 0.80] 35 | - [15.13, 31.10, 0.80] 36 | - [25.00, 38.85, 0.80] 37 | - [45.38, 8.49, 0.80] 38 | - [47.51, 3.62, 0.80] 39 | - [39.54, 47.51, 0.80] 40 | - [38.44, 24.68, 0.80] 41 | - [25.06, 34.98, 0.80] 42 | - [9.31, 42.57, 0.80] 43 | - [31.04, 6.20, 0.80] 44 | - [26.84, 6.28, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex16.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [44.10, 20.01, -1.92] 3 | name: agent0 4 | goal: [17.79, 30.81, 1.40] 5 | - start: [14.40, 8.88, -1.41] 6 | name: agent1 7 | goal: [5.90, 28.87, -3.13] 8 | - start: [24.55, 38.80, 2.48] 9 | name: agent2 10 | goal: [30.29, 19.76, 2.58] 11 | - start: [39.46, 21.92, -2.41] 12 | name: agent3 13 | goal: [19.56, 18.91, -2.77] 14 | - start: [27.15, 24.23, -1.58] 15 | name: agent4 16 | goal: [22.67, 26.10, -0.44] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [34.55, 20.92, 0.80] 21 | - [24.78, 16.60, 0.80] 22 | - [37.51, 45.17, 0.80] 23 | - [44.96, 16.72, 0.80] 24 | - [31.44, 44.98, 0.80] 25 | - [38.86, 3.67, 0.80] 26 | - [43.33, 32.83, 0.80] 27 | - [25.81, 48.29, 0.80] 28 | - [30.66, 31.25, 0.80] 29 | - [8.24, 32.58, 0.80] 30 | - [16.80, 46.51, 0.80] 31 | - [17.78, 34.21, 0.80] 32 | - [30.10, 11.18, 0.80] 33 | - [48.34, 38.27, 0.80] 34 | - [6.86, 8.38, 0.80] 35 | - [32.55, 15.81, 0.80] 36 | - [4.30, 42.69, 0.80] 37 | - [37.25, 8.77, 0.80] 38 | - [32.89, 40.57, 0.80] 39 | - [11.46, 30.84, 0.80] 40 | - [14.95, 28.73, 0.80] 41 | - [16.70, 17.57, 0.80] 42 | - [10.58, 39.39, 0.80] 43 | - [25.10, 1.04, 0.80] 44 | - [41.79, 12.13, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex17.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [11.72, 23.94, -1.07] 3 | name: agent0 4 | goal: [27.79, 18.58, 0.48] 5 | - start: [12.32, 14.58, -2.46] 6 | name: agent1 7 | goal: [13.84, 39.17, 0.11] 8 | - start: [17.39, 5.89, -2.12] 9 | name: agent2 10 | goal: [18.72, 17.10, 2.11] 11 | - start: [44.45, 37.16, 0.98] 12 | name: agent3 13 | goal: [19.87, 36.53, -0.27] 14 | - start: [18.10, 29.67, 1.85] 15 | name: agent4 16 | goal: [44.24, 32.41, 1.73] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [12.61, 5.17, 0.80] 21 | - [41.18, 36.03, 0.80] 22 | - [39.78, 48.29, 0.80] 23 | - [43.14, 16.66, 0.80] 24 | - [9.06, 1.83, 0.80] 25 | - [3.61, 37.72, 0.80] 26 | - [26.58, 47.96, 0.80] 27 | - [4.67, 26.09, 0.80] 28 | - [37.50, 5.13, 0.80] 29 | - [29.30, 11.08, 0.80] 30 | - [22.16, 44.33, 0.80] 31 | - [4.47, 1.63, 0.80] 32 | - [47.20, 48.78, 0.80] 33 | - [3.05, 44.68, 0.80] 34 | - [27.94, 4.51, 0.80] 35 | - [39.62, 9.83, 0.80] 36 | - [24.49, 17.38, 0.80] 37 | - [29.64, 37.06, 0.80] 38 | - [18.44, 9.73, 0.80] 39 | - [32.32, 26.94, 0.80] 40 | - [8.18, 24.14, 0.80] 41 | - [38.24, 2.11, 0.80] 42 | - [45.90, 28.60, 0.80] 43 | - [7.38, 37.47, 0.80] 44 | - [38.83, 41.89, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex18.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [5.05, 40.05, 2.90] 3 | name: agent0 4 | goal: [35.57, 43.73, -1.15] 5 | - start: [33.83, 34.51, -0.99] 6 | name: agent1 7 | goal: [17.04, 16.50, 0.51] 8 | - start: [3.91, 9.20, 0.85] 9 | name: agent2 10 | goal: [18.71, 26.31, -1.12] 11 | - start: [37.66, 9.47, -0.58] 12 | name: agent3 13 | goal: [32.85, 11.30, 1.93] 14 | - start: [41.51, 35.06, 3.07] 15 | name: agent4 16 | goal: [19.78, 30.88, -2.53] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [45.90, 13.49, 0.80] 21 | - [44.28, 39.25, 0.80] 22 | - [42.41, 5.49, 0.80] 23 | - [39.66, 20.83, 0.80] 24 | - [36.39, 30.99, 0.80] 25 | - [29.40, 26.22, 0.80] 26 | - [9.04, 2.80, 0.80] 27 | - [17.91, 9.29, 0.80] 28 | - [22.63, 24.60, 0.80] 29 | - [8.55, 30.14, 0.80] 30 | - [19.07, 22.69, 0.80] 31 | - [13.59, 44.45, 0.80] 32 | - [15.58, 23.16, 0.80] 33 | - [41.46, 16.26, 0.80] 34 | - [4.16, 32.94, 0.80] 35 | - [18.20, 37.66, 0.80] 36 | - [12.28, 27.21, 0.80] 37 | - [17.77, 1.77, 0.80] 38 | - [20.44, 15.22, 0.80] 39 | - [8.28, 9.02, 0.80] 40 | - [8.40, 26.64, 0.80] 41 | - [6.34, 46.05, 0.80] 42 | - [19.97, 47.16, 0.80] 43 | - [10.07, 19.92, 0.80] 44 | - [1.66, 12.00, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex19.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [22.67, 41.60, 2.04] 3 | name: agent0 4 | goal: [29.62, 24.00, 1.34] 5 | - start: [9.28, 11.25, 2.75] 6 | name: agent1 7 | goal: [41.00, 33.01, -1.20] 8 | - start: [44.46, 40.27, -0.26] 9 | name: agent2 10 | goal: [29.89, 4.85, -0.96] 11 | - start: [34.03, 25.32, -0.51] 12 | name: agent3 13 | goal: [12.64, 43.99, 1.05] 14 | - start: [41.81, 28.13, 1.08] 15 | name: agent4 16 | goal: [42.24, 21.96, -1.75] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [25.29, 35.41, 0.80] 21 | - [48.69, 46.28, 0.80] 22 | - [48.78, 26.72, 0.80] 23 | - [3.94, 28.81, 0.80] 24 | - [22.70, 25.59, 0.80] 25 | - [46.12, 8.68, 0.80] 26 | - [19.21, 28.51, 0.80] 27 | - [23.12, 31.49, 0.80] 28 | - [46.00, 24.83, 0.80] 29 | - [26.20, 15.30, 0.80] 30 | - [27.51, 46.41, 0.80] 31 | - [1.42, 8.85, 0.80] 32 | - [9.61, 35.00, 0.80] 33 | - [30.98, 44.59, 0.80] 34 | - [33.85, 21.83, 0.80] 35 | - [28.92, 10.84, 0.80] 36 | - [42.26, 17.02, 0.80] 37 | - [12.99, 37.82, 0.80] 38 | - [11.36, 14.03, 0.80] 39 | - [11.30, 1.35, 0.80] 40 | - [26.30, 5.89, 0.80] 41 | - [11.04, 31.72, 0.80] 42 | - [18.38, 13.28, 0.80] 43 | - [2.40, 17.89, 0.80] 44 | - [19.17, 37.75, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex2.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [21.68, 30.67, -1.33] 3 | name: agent0 4 | goal: [12.42, 36.08, 1.72] 5 | - start: [5.54, 40.07, -0.37] 6 | name: agent1 7 | goal: [5.02, 33.76, -1.10] 8 | - start: [37.81, 8.41, 1.80] 9 | name: agent2 10 | goal: [18.17, 41.47, 2.72] 11 | - start: [15.87, 24.04, -1.73] 12 | name: agent3 13 | goal: [25.72, 34.47, 0.77] 14 | - start: [42.77, 19.97, 2.87] 15 | name: agent4 16 | goal: [5.68, 27.66, -1.39] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [16.80, 14.30, 0.80] 21 | - [9.63, 32.89, 0.80] 22 | - [22.04, 7.16, 0.80] 23 | - [10.48, 2.86, 0.80] 24 | - [48.26, 5.91, 0.80] 25 | - [26.03, 15.23, 0.80] 26 | - [34.45, 20.67, 0.80] 27 | - [14.60, 8.52, 0.80] 28 | - [48.08, 47.38, 0.80] 29 | - [36.59, 44.54, 0.80] 30 | - [25.23, 2.72, 0.80] 31 | - [6.22, 18.28, 0.80] 32 | - [29.86, 2.10, 0.80] 33 | - [31.74, 8.15, 0.80] 34 | - [1.77, 23.87, 0.80] 35 | - [45.07, 6.35, 0.80] 36 | - [23.11, 12.71, 0.80] 37 | - [46.78, 25.78, 0.80] 38 | - [25.59, 27.29, 0.80] 39 | - [20.59, 21.79, 0.80] 40 | - [30.05, 36.72, 0.80] 41 | - [40.46, 1.22, 0.80] 42 | - [10.76, 40.11, 0.80] 43 | - [16.03, 31.42, 0.80] 44 | - [25.24, 46.54, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex20.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [7.71, 27.60, 2.39] 3 | name: agent0 4 | goal: [3.51, 3.98, 1.94] 5 | - start: [10.31, 39.33, 2.09] 6 | name: agent1 7 | goal: [13.11, 7.16, -0.67] 8 | - start: [18.27, 18.44, 1.49] 9 | name: agent2 10 | goal: [33.68, 19.22, -1.06] 11 | - start: [13.81, 44.61, -0.96] 12 | name: agent3 13 | goal: [44.38, 13.88, 1.86] 14 | - start: [24.32, 12.48, 1.94] 15 | name: agent4 16 | goal: [8.31, 20.06, -1.08] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [26.21, 15.34, 0.80] 21 | - [31.95, 36.52, 0.80] 22 | - [11.63, 27.39, 0.80] 23 | - [8.81, 8.55, 0.80] 24 | - [22.00, 1.06, 0.80] 25 | - [5.37, 41.70, 0.80] 26 | - [21.07, 28.90, 0.80] 27 | - [19.50, 14.10, 0.80] 28 | - [4.11, 26.07, 0.80] 29 | - [42.66, 24.24, 0.80] 30 | - [1.87, 10.94, 0.80] 31 | - [20.71, 24.79, 0.80] 32 | - [2.19, 31.41, 0.80] 33 | - [35.05, 42.48, 0.80] 34 | - [46.79, 39.31, 0.80] 35 | - [41.61, 1.48, 0.80] 36 | - [16.57, 34.96, 0.80] 37 | - [21.38, 33.48, 0.80] 38 | - [12.46, 21.15, 0.80] 39 | - [14.36, 25.02, 0.80] 40 | - [11.10, 17.31, 0.80] 41 | - [40.24, 35.22, 0.80] 42 | - [39.18, 28.02, 0.80] 43 | - [28.97, 26.35, 0.80] 44 | - [25.46, 28.18, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex21.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [33.42, 36.88, 1.36] 3 | name: agent0 4 | goal: [29.38, 9.27, -1.21] 5 | - start: [26.08, 22.61, 1.54] 6 | name: agent1 7 | goal: [38.90, 4.87, 0.48] 8 | - start: [29.40, 30.40, -0.42] 9 | name: agent2 10 | goal: [40.52, 33.47, 1.99] 11 | - start: [6.24, 25.55, 0.31] 12 | name: agent3 13 | goal: [24.37, 15.00, -0.94] 14 | - start: [11.31, 7.74, 2.27] 15 | name: agent4 16 | goal: [30.50, 13.61, 2.09] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [7.17, 41.12, 0.80] 21 | - [22.02, 30.49, 0.80] 22 | - [25.06, 26.00, 0.80] 23 | - [43.05, 2.60, 0.80] 24 | - [7.91, 6.36, 0.80] 25 | - [28.23, 40.62, 0.80] 26 | - [40.67, 14.13, 0.80] 27 | - [20.91, 46.09, 0.80] 28 | - [38.66, 9.22, 0.80] 29 | - [1.89, 26.06, 0.80] 30 | - [23.72, 8.66, 0.80] 31 | - [21.42, 35.15, 0.80] 32 | - [28.56, 18.16, 0.80] 33 | - [19.23, 49.11, 0.80] 34 | - [20.57, 13.56, 0.80] 35 | - [13.97, 23.95, 0.80] 36 | - [11.73, 19.90, 0.80] 37 | - [11.92, 40.06, 0.80] 38 | - [41.06, 24.07, 0.80] 39 | - [34.37, 27.48, 0.80] 40 | - [44.66, 9.50, 0.80] 41 | - [48.63, 37.97, 0.80] 42 | - [9.81, 46.51, 0.80] 43 | - [5.23, 29.77, 0.80] 44 | - [16.64, 14.07, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex22.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [5.60, 10.82, -0.45] 3 | name: agent0 4 | goal: [16.55, 24.65, -1.94] 5 | - start: [36.07, 26.69, -2.29] 6 | name: agent1 7 | goal: [5.15, 3.74, -0.42] 8 | - start: [20.64, 40.57, -0.09] 9 | name: agent2 10 | goal: [12.22, 41.24, 2.82] 11 | - start: [11.42, 24.65, -0.23] 12 | name: agent3 13 | goal: [35.22, 31.18, -2.60] 14 | - start: [43.31, 29.66, -1.10] 15 | name: agent4 16 | goal: [3.69, 16.06, 2.19] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [12.23, 6.68, 0.80] 21 | - [8.20, 16.48, 0.80] 22 | - [28.22, 5.16, 0.80] 23 | - [30.07, 35.21, 0.80] 24 | - [10.84, 1.65, 0.80] 25 | - [23.17, 16.52, 0.80] 26 | - [49.17, 13.25, 0.80] 27 | - [36.20, 7.67, 0.80] 28 | - [28.53, 27.85, 0.80] 29 | - [33.12, 37.95, 0.80] 30 | - [15.79, 4.69, 0.80] 31 | - [13.25, 36.32, 0.80] 32 | - [7.87, 27.13, 0.80] 33 | - [15.04, 33.41, 0.80] 34 | - [24.82, 8.86, 0.80] 35 | - [2.13, 22.05, 0.80] 36 | - [17.89, 15.34, 0.80] 37 | - [39.65, 27.35, 0.80] 38 | - [21.98, 3.51, 0.80] 39 | - [6.85, 30.35, 0.80] 40 | - [47.71, 30.12, 0.80] 41 | - [35.47, 11.48, 0.80] 42 | - [26.69, 37.00, 0.80] 43 | - [43.72, 42.19, 0.80] 44 | - [45.42, 47.27, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex23.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [17.53, 7.13, 0.84] 3 | name: agent0 4 | goal: [37.32, 39.77, -1.87] 5 | - start: [24.48, 25.50, 2.62] 6 | name: agent1 7 | goal: [11.77, 25.39, -1.88] 8 | - start: [9.86, 44.19, -3.10] 9 | name: agent2 10 | goal: [33.02, 8.18, -0.54] 11 | - start: [43.43, 44.80, -0.42] 12 | name: agent3 13 | goal: [44.24, 31.39, -1.05] 14 | - start: [11.85, 33.77, 1.35] 15 | name: agent4 16 | goal: [14.02, 12.19, -1.48] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [45.44, 5.05, 0.80] 21 | - [8.86, 34.88, 0.80] 22 | - [17.47, 20.74, 0.80] 23 | - [21.38, 13.19, 0.80] 24 | - [16.35, 32.31, 0.80] 25 | - [7.92, 47.15, 0.80] 26 | - [47.70, 42.33, 0.80] 27 | - [33.78, 49.15, 0.80] 28 | - [39.23, 21.69, 0.80] 29 | - [6.59, 41.46, 0.80] 30 | - [22.02, 7.04, 0.80] 31 | - [36.00, 29.78, 0.80] 32 | - [6.39, 19.92, 0.80] 33 | - [7.38, 3.80, 0.80] 34 | - [32.17, 20.94, 0.80] 35 | - [32.07, 39.22, 0.80] 36 | - [40.53, 26.91, 0.80] 37 | - [17.91, 1.16, 0.80] 38 | - [12.81, 17.74, 0.80] 39 | - [44.91, 19.43, 0.80] 40 | - [25.33, 19.16, 0.80] 41 | - [38.97, 11.55, 0.80] 42 | - [30.40, 17.16, 0.80] 43 | - [33.45, 45.00, 0.80] 44 | - [48.83, 5.32, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex24.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [24.61, 22.35, 0.55] 3 | name: agent0 4 | goal: [42.53, 9.85, -0.61] 5 | - start: [26.10, 43.98, -2.52] 6 | name: agent1 7 | goal: [33.23, 37.66, -0.68] 8 | - start: [17.43, 6.54, -0.35] 9 | name: agent2 10 | goal: [12.34, 17.92, -2.99] 11 | - start: [15.09, 39.75, -1.63] 12 | name: agent3 13 | goal: [21.03, 9.57, 1.87] 14 | - start: [44.58, 35.18, 0.43] 15 | name: agent4 16 | goal: [7.07, 44.86, 1.78] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [32.22, 8.05, 0.80] 21 | - [5.81, 5.10, 0.80] 22 | - [36.83, 33.04, 0.80] 23 | - [15.85, 42.76, 0.80] 24 | - [5.26, 40.52, 0.80] 25 | - [6.32, 23.36, 0.80] 26 | - [45.69, 47.20, 0.80] 27 | - [9.90, 7.37, 0.80] 28 | - [6.60, 19.66, 0.80] 29 | - [12.42, 45.16, 0.80] 30 | - [19.57, 3.46, 0.80] 31 | - [20.32, 25.26, 0.80] 32 | - [4.32, 33.90, 0.80] 33 | - [8.77, 32.62, 0.80] 34 | - [37.15, 36.44, 0.80] 35 | - [38.66, 28.47, 0.80] 36 | - [6.39, 11.64, 0.80] 37 | - [40.84, 17.09, 0.80] 38 | - [4.19, 17.20, 0.80] 39 | - [25.89, 35.89, 0.80] 40 | - [16.53, 16.95, 0.80] 41 | - [44.10, 27.30, 0.80] 42 | - [34.10, 48.00, 0.80] 43 | - [44.15, 19.63, 0.80] 44 | - [29.06, 46.67, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex25.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [9.74, 16.16, 0.46] 3 | name: agent0 4 | goal: [7.81, 20.54, 1.24] 5 | - start: [6.32, 11.36, -2.36] 6 | name: agent1 7 | goal: [15.56, 32.39, 1.50] 8 | - start: [44.03, 31.63, -2.19] 9 | name: agent2 10 | goal: [34.20, 43.27, 2.64] 11 | - start: [8.68, 25.82, -0.03] 12 | name: agent3 13 | goal: [43.49, 16.37, -1.47] 14 | - start: [24.16, 15.79, -0.44] 15 | name: agent4 16 | goal: [29.43, 44.49, -1.92] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [6.93, 47.10, 0.80] 21 | - [33.73, 34.92, 0.80] 22 | - [7.73, 3.49, 0.80] 23 | - [37.20, 12.85, 0.80] 24 | - [25.12, 20.41, 0.80] 25 | - [14.38, 18.78, 0.80] 26 | - [42.15, 22.19, 0.80] 27 | - [46.81, 8.68, 0.80] 28 | - [2.11, 5.23, 0.80] 29 | - [40.37, 26.30, 0.80] 30 | - [41.06, 45.18, 0.80] 31 | - [47.58, 2.01, 0.80] 32 | - [36.15, 5.89, 0.80] 33 | - [33.93, 10.62, 0.80] 34 | - [28.23, 9.40, 0.80] 35 | - [46.56, 14.46, 0.80] 36 | - [1.31, 14.15, 0.80] 37 | - [11.64, 46.38, 0.80] 38 | - [5.70, 36.56, 0.80] 39 | - [17.71, 25.85, 0.80] 40 | - [41.69, 1.35, 0.80] 41 | - [16.00, 36.02, 0.80] 42 | - [18.14, 19.46, 0.80] 43 | - [21.57, 26.29, 0.80] 44 | - [9.72, 12.12, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex26.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [35.84, 8.43, -0.17] 3 | name: agent0 4 | goal: [6.35, 10.12, -2.35] 5 | - start: [14.67, 9.84, 1.46] 6 | name: agent1 7 | goal: [25.14, 34.95, -0.30] 8 | - start: [10.39, 15.11, 0.31] 9 | name: agent2 10 | goal: [41.26, 26.54, 0.62] 11 | - start: [23.49, 44.73, -2.86] 12 | name: agent3 13 | goal: [39.58, 18.78, 2.48] 14 | - start: [7.27, 3.69, -0.09] 15 | name: agent4 16 | goal: [17.59, 39.29, -1.01] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [13.53, 18.01, 0.80] 21 | - [29.12, 40.32, 0.80] 22 | - [38.95, 11.17, 0.80] 23 | - [7.16, 41.56, 0.80] 24 | - [13.39, 24.45, 0.80] 25 | - [15.38, 36.77, 0.80] 26 | - [19.83, 34.10, 0.80] 27 | - [45.87, 27.53, 0.80] 28 | - [33.39, 18.08, 0.80] 29 | - [44.45, 45.34, 0.80] 30 | - [18.36, 19.25, 0.80] 31 | - [3.86, 3.68, 0.80] 32 | - [20.52, 47.67, 0.80] 33 | - [44.02, 24.23, 0.80] 34 | - [37.61, 44.40, 0.80] 35 | - [19.16, 41.91, 0.80] 36 | - [45.96, 3.28, 0.80] 37 | - [47.83, 18.41, 0.80] 38 | - [16.48, 46.51, 0.80] 39 | - [18.87, 25.16, 0.80] 40 | - [30.98, 26.88, 0.80] 41 | - [26.08, 10.87, 0.80] 42 | - [38.17, 4.55, 0.80] 43 | - [18.80, 31.24, 0.80] 44 | - [24.46, 28.42, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex27.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [18.57, 7.35, -1.82] 3 | name: agent0 4 | goal: [42.24, 8.55, 0.64] 5 | - start: [26.25, 31.86, 1.47] 6 | name: agent1 7 | goal: [28.38, 3.89, -2.19] 8 | - start: [41.35, 27.38, -2.45] 9 | name: agent2 10 | goal: [25.59, 40.25, -0.53] 11 | - start: [17.61, 27.25, -0.73] 12 | name: agent3 13 | goal: [34.16, 8.26, -1.73] 14 | - start: [5.58, 14.09, 2.60] 15 | name: agent4 16 | goal: [3.58, 32.38, 1.52] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [26.52, 25.33, 0.80] 21 | - [10.47, 14.38, 0.80] 22 | - [30.57, 18.88, 0.80] 23 | - [40.19, 6.17, 0.80] 24 | - [21.55, 13.57, 0.80] 25 | - [29.20, 44.83, 0.80] 26 | - [36.64, 21.81, 0.80] 27 | - [7.26, 8.23, 0.80] 28 | - [39.34, 47.46, 0.80] 29 | - [14.95, 38.95, 0.80] 30 | - [13.07, 4.96, 0.80] 31 | - [13.21, 29.34, 0.80] 32 | - [33.62, 45.10, 0.80] 33 | - [47.23, 26.63, 0.80] 34 | - [34.45, 3.82, 0.80] 35 | - [4.06, 3.37, 0.80] 36 | - [38.67, 0.86, 0.80] 37 | - [9.95, 32.23, 0.80] 38 | - [47.87, 4.53, 0.80] 39 | - [21.01, 3.77, 0.80] 40 | - [32.43, 40.45, 0.80] 41 | - [22.75, 22.68, 0.80] 42 | - [12.78, 23.21, 0.80] 43 | - [36.66, 33.12, 0.80] 44 | - [40.03, 42.73, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex28.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [31.40, 39.23, 2.82] 3 | name: agent0 4 | goal: [11.00, 40.13, 0.24] 5 | - start: [28.19, 35.92, 0.88] 6 | name: agent1 7 | goal: [39.37, 3.99, 2.15] 8 | - start: [27.50, 3.23, 2.47] 9 | name: agent2 10 | goal: [5.85, 30.00, -0.91] 11 | - start: [37.75, 39.12, -0.54] 12 | name: agent3 13 | goal: [29.13, 30.15, -2.99] 14 | - start: [23.00, 26.86, 0.33] 15 | name: agent4 16 | goal: [19.38, 20.06, 0.21] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [14.88, 46.67, 0.80] 21 | - [30.21, 12.63, 0.80] 22 | - [18.13, 45.22, 0.80] 23 | - [33.55, 10.12, 0.80] 24 | - [43.59, 26.28, 0.80] 25 | - [25.87, 15.49, 0.80] 26 | - [13.93, 32.90, 0.80] 27 | - [46.39, 23.67, 0.80] 28 | - [1.40, 6.19, 0.80] 29 | - [33.24, 28.14, 0.80] 30 | - [44.97, 45.26, 0.80] 31 | - [6.50, 19.66, 0.80] 32 | - [19.33, 14.36, 0.80] 33 | - [24.96, 10.69, 0.80] 34 | - [46.56, 19.67, 0.80] 35 | - [35.93, 19.94, 0.80] 36 | - [37.44, 8.36, 0.80] 37 | - [21.25, 44.82, 0.80] 38 | - [14.84, 8.22, 0.80] 39 | - [24.68, 20.78, 0.80] 40 | - [8.55, 26.39, 0.80] 41 | - [45.04, 40.69, 0.80] 42 | - [43.07, 29.64, 0.80] 43 | - [7.44, 36.94, 0.80] 44 | - [38.68, 14.31, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex29.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [36.94, 39.11, 0.36] 3 | name: agent0 4 | goal: [24.60, 24.45, -1.19] 5 | - start: [18.83, 40.07, -0.90] 6 | name: agent1 7 | goal: [45.00, 3.51, 2.81] 8 | - start: [36.11, 28.69, -1.02] 9 | name: agent2 10 | goal: [22.93, 13.73, 0.48] 11 | - start: [38.03, 9.38, -1.91] 12 | name: agent3 13 | goal: [40.41, 23.66, 0.00] 14 | - start: [24.15, 8.09, -2.88] 15 | name: agent4 16 | goal: [8.68, 40.10, -1.60] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [21.86, 25.98, 0.80] 21 | - [1.09, 41.82, 0.80] 22 | - [17.45, 10.54, 0.80] 23 | - [33.45, 31.57, 0.80] 24 | - [47.59, 16.63, 0.80] 25 | - [10.70, 7.33, 0.80] 26 | - [12.62, 31.81, 0.80] 27 | - [7.12, 35.40, 0.80] 28 | - [37.02, 23.88, 0.80] 29 | - [18.07, 15.99, 0.80] 30 | - [30.71, 6.39, 0.80] 31 | - [27.62, 9.65, 0.80] 32 | - [32.80, 37.16, 0.80] 33 | - [6.02, 9.24, 0.80] 34 | - [41.67, 48.98, 0.80] 35 | - [32.26, 47.06, 0.80] 36 | - [2.31, 5.75, 0.80] 37 | - [17.38, 28.93, 0.80] 38 | - [30.49, 29.71, 0.80] 39 | - [37.46, 19.41, 0.80] 40 | - [48.51, 21.60, 0.80] 41 | - [27.66, 22.06, 0.80] 42 | - [6.79, 42.62, 0.80] 43 | - [44.33, 17.16, 0.80] 44 | - [46.85, 41.17, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex3.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [8.92, 4.01, 3.11] 3 | name: agent0 4 | goal: [31.55, 22.69, 0.06] 5 | - start: [34.60, 14.48, 2.84] 6 | name: agent1 7 | goal: [11.40, 32.23, -2.10] 8 | - start: [31.22, 3.28, 2.33] 9 | name: agent2 10 | goal: [6.63, 9.68, -1.49] 11 | - start: [42.89, 4.10, -2.06] 12 | name: agent3 13 | goal: [23.22, 26.81, -2.76] 14 | - start: [15.46, 13.35, 1.24] 15 | name: agent4 16 | goal: [15.67, 18.43, -1.51] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [25.46, 10.28, 0.80] 21 | - [34.33, 8.07, 0.80] 22 | - [5.47, 1.09, 0.80] 23 | - [26.86, 19.43, 0.80] 24 | - [1.51, 18.68, 0.80] 25 | - [26.83, 4.69, 0.80] 26 | - [23.46, 37.17, 0.80] 27 | - [38.67, 2.60, 0.80] 28 | - [48.40, 25.39, 0.80] 29 | - [14.85, 39.63, 0.80] 30 | - [45.58, 9.37, 0.80] 31 | - [8.28, 27.14, 0.80] 32 | - [41.14, 25.11, 0.80] 33 | - [36.90, 47.48, 0.80] 34 | - [4.40, 38.12, 0.80] 35 | - [33.70, 28.29, 0.80] 36 | - [9.22, 38.34, 0.80] 37 | - [21.16, 33.55, 0.80] 38 | - [29.27, 14.13, 0.80] 39 | - [36.38, 38.03, 0.80] 40 | - [0.85, 10.03, 0.80] 41 | - [42.97, 33.17, 0.80] 42 | - [39.37, 8.07, 0.80] 43 | - [26.81, 45.07, 0.80] 44 | - [2.60, 29.98, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex30.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [5.33, 31.27, 0.36] 3 | name: agent0 4 | goal: [32.48, 15.13, -1.26] 5 | - start: [18.08, 9.14, -1.93] 6 | name: agent1 7 | goal: [42.16, 39.12, 0.81] 8 | - start: [29.22, 35.64, -1.38] 9 | name: agent2 10 | goal: [28.38, 10.44, -1.37] 11 | - start: [23.93, 41.67, -1.61] 12 | name: agent3 13 | goal: [22.32, 4.40, -2.72] 14 | - start: [9.77, 35.39, -0.45] 15 | name: agent4 16 | goal: [11.70, 13.06, -2.49] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [1.35, 25.56, 0.80] 21 | - [47.78, 38.69, 0.80] 22 | - [34.07, 4.99, 0.80] 23 | - [11.48, 37.93, 0.80] 24 | - [5.78, 17.18, 0.80] 25 | - [4.64, 12.21, 0.80] 26 | - [33.76, 41.98, 0.80] 27 | - [40.50, 26.37, 0.80] 28 | - [33.82, 35.08, 0.80] 29 | - [9.92, 27.64, 0.80] 30 | - [20.62, 44.34, 0.80] 31 | - [29.89, 47.04, 0.80] 32 | - [42.60, 4.49, 0.80] 33 | - [8.91, 47.27, 0.80] 34 | - [47.09, 27.75, 0.80] 35 | - [16.11, 15.84, 0.80] 36 | - [22.98, 15.83, 0.80] 37 | - [12.96, 5.29, 0.80] 38 | - [20.65, 22.30, 0.80] 39 | - [43.11, 45.21, 0.80] 40 | - [1.43, 1.81, 0.80] 41 | - [27.07, 20.66, 0.80] 42 | - [22.26, 7.54, 0.80] 43 | - [44.01, 19.76, 0.80] 44 | - [29.25, 30.23, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex31.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [15.84, 24.47, 1.10] 3 | name: agent0 4 | goal: [8.41, 40.55, 0.39] 5 | - start: [24.91, 8.99, 2.77] 6 | name: agent1 7 | goal: [6.57, 24.30, -2.04] 8 | - start: [33.09, 5.51, -1.14] 9 | name: agent2 10 | goal: [9.17, 15.43, 0.13] 11 | - start: [21.60, 21.90, 1.34] 12 | name: agent3 13 | goal: [38.71, 14.08, -1.50] 14 | - start: [10.14, 20.32, -0.40] 15 | name: agent4 16 | goal: [15.36, 9.31, 2.04] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [29.49, 45.94, 0.80] 21 | - [2.26, 39.57, 0.80] 22 | - [34.64, 8.12, 0.80] 23 | - [37.39, 41.64, 0.80] 24 | - [37.79, 21.38, 0.80] 25 | - [46.47, 42.84, 0.80] 26 | - [25.11, 44.94, 0.80] 27 | - [40.09, 45.67, 0.80] 28 | - [40.60, 6.22, 0.80] 29 | - [40.38, 26.03, 0.80] 30 | - [16.02, 37.71, 0.80] 31 | - [30.94, 22.98, 0.80] 32 | - [15.80, 31.56, 0.80] 33 | - [26.21, 38.34, 0.80] 34 | - [30.58, 15.02, 0.80] 35 | - [21.56, 3.59, 0.80] 36 | - [20.45, 37.01, 0.80] 37 | - [40.51, 16.82, 0.80] 38 | - [46.03, 19.57, 0.80] 39 | - [38.82, 37.03, 0.80] 40 | - [24.90, 34.01, 0.80] 41 | - [8.76, 44.68, 0.80] 42 | - [25.08, 22.34, 0.80] 43 | - [16.83, 46.23, 0.80] 44 | - [1.74, 5.11, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex32.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [29.08, 10.58, 2.12] 3 | name: agent0 4 | goal: [42.55, 34.21, -1.77] 5 | - start: [41.36, 17.86, -1.43] 6 | name: agent1 7 | goal: [4.33, 21.34, 1.78] 8 | - start: [19.23, 11.81, 2.00] 9 | name: agent2 10 | goal: [11.52, 44.92, -1.35] 11 | - start: [27.82, 32.12, 2.20] 12 | name: agent3 13 | goal: [21.38, 23.97, -0.89] 14 | - start: [41.07, 12.60, -2.14] 15 | name: agent4 16 | goal: [42.18, 38.69, -0.40] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [37.29, 20.25, 0.80] 21 | - [38.91, 47.86, 0.80] 22 | - [37.52, 31.69, 0.80] 23 | - [45.90, 32.49, 0.80] 24 | - [28.39, 6.17, 0.80] 25 | - [35.97, 27.32, 0.80] 26 | - [25.29, 36.31, 0.80] 27 | - [13.34, 23.64, 0.80] 28 | - [30.13, 17.33, 0.80] 29 | - [5.31, 15.87, 0.80] 30 | - [24.81, 31.66, 0.80] 31 | - [29.83, 28.85, 0.80] 32 | - [47.10, 1.47, 0.80] 33 | - [32.63, 31.07, 0.80] 34 | - [15.57, 35.82, 0.80] 35 | - [27.62, 15.10, 0.80] 36 | - [9.56, 32.52, 0.80] 37 | - [7.18, 23.29, 0.80] 38 | - [4.34, 5.14, 0.80] 39 | - [48.95, 15.84, 0.80] 40 | - [24.04, 6.24, 0.80] 41 | - [9.80, 11.56, 0.80] 42 | - [2.62, 37.32, 0.80] 43 | - [45.80, 14.86, 0.80] 44 | - [20.90, 39.88, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex33.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [7.85, 38.97, 0.73] 3 | name: agent0 4 | goal: [4.15, 7.74, -2.08] 5 | - start: [5.38, 43.81, 2.49] 6 | name: agent1 7 | goal: [25.83, 30.39, 1.21] 8 | - start: [30.46, 9.91, 0.14] 9 | name: agent2 10 | goal: [5.71, 26.30, -1.05] 11 | - start: [18.52, 29.90, -0.35] 12 | name: agent3 13 | goal: [19.33, 25.09, -1.60] 14 | - start: [30.56, 19.74, -0.92] 15 | name: agent4 16 | goal: [8.59, 15.07, 1.61] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [36.08, 14.02, 0.80] 21 | - [32.49, 4.22, 0.80] 22 | - [38.62, 6.98, 0.80] 23 | - [13.82, 6.15, 0.80] 24 | - [2.93, 13.91, 0.80] 25 | - [38.86, 39.13, 0.80] 26 | - [41.86, 28.89, 0.80] 27 | - [33.74, 11.79, 0.80] 28 | - [27.80, 23.24, 0.80] 29 | - [10.25, 27.11, 0.80] 30 | - [16.02, 32.44, 0.80] 31 | - [25.47, 34.80, 0.80] 32 | - [22.68, 30.40, 0.80] 33 | - [44.29, 41.75, 0.80] 34 | - [3.96, 21.99, 0.80] 35 | - [6.06, 30.56, 0.80] 36 | - [17.34, 1.56, 0.80] 37 | - [7.33, 34.30, 0.80] 38 | - [13.56, 12.63, 0.80] 39 | - [45.58, 37.53, 0.80] 40 | - [14.43, 29.57, 0.80] 41 | - [22.24, 44.58, 0.80] 42 | - [46.42, 31.27, 0.80] 43 | - [16.03, 41.02, 0.80] 44 | - [29.99, 48.18, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex34.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [20.68, 26.10, -2.12] 3 | name: agent0 4 | goal: [9.53, 8.39, -0.91] 5 | - start: [40.47, 25.40, 3.01] 6 | name: agent1 7 | goal: [4.69, 32.05, 0.63] 8 | - start: [37.93, 17.61, -0.52] 9 | name: agent2 10 | goal: [43.25, 33.43, 2.95] 11 | - start: [11.51, 38.49, 0.12] 12 | name: agent3 13 | goal: [30.63, 44.92, -0.45] 14 | - start: [24.77, 9.84, 1.18] 15 | name: agent4 16 | goal: [13.38, 27.03, 2.63] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [1.05, 15.07, 0.80] 21 | - [23.31, 6.79, 0.80] 22 | - [47.56, 8.80, 0.80] 23 | - [47.34, 46.11, 0.80] 24 | - [18.61, 23.69, 0.80] 25 | - [39.55, 43.04, 0.80] 26 | - [9.94, 28.25, 0.80] 27 | - [11.48, 42.75, 0.80] 28 | - [0.94, 47.69, 0.80] 29 | - [31.59, 2.12, 0.80] 30 | - [17.69, 13.24, 0.80] 31 | - [27.58, 29.83, 0.80] 32 | - [48.45, 34.59, 0.80] 33 | - [18.78, 3.10, 0.80] 34 | - [32.65, 38.33, 0.80] 35 | - [15.47, 45.20, 0.80] 36 | - [2.01, 4.69, 0.80] 37 | - [5.69, 36.41, 0.80] 38 | - [37.79, 38.79, 0.80] 39 | - [24.42, 20.33, 0.80] 40 | - [6.89, 40.33, 0.80] 41 | - [7.54, 17.32, 0.80] 42 | - [32.56, 32.93, 0.80] 43 | - [41.13, 13.58, 0.80] 44 | - [29.74, 10.94, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex35.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [44.96, 26.79, -2.24] 3 | name: agent0 4 | goal: [15.40, 12.02, 2.73] 5 | - start: [35.62, 8.33, -0.19] 6 | name: agent1 7 | goal: [9.05, 3.36, 2.98] 8 | - start: [19.35, 14.84, 1.06] 9 | name: agent2 10 | goal: [30.06, 26.79, -2.47] 11 | - start: [20.11, 36.96, -0.96] 12 | name: agent3 13 | goal: [12.42, 17.24, -0.73] 14 | - start: [9.82, 22.98, 2.27] 15 | name: agent4 16 | goal: [26.72, 10.26, 2.28] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [45.01, 12.25, 0.80] 21 | - [48.81, 46.08, 0.80] 22 | - [47.15, 41.03, 0.80] 23 | - [1.85, 35.66, 0.80] 24 | - [9.09, 29.03, 0.80] 25 | - [1.36, 27.25, 0.80] 26 | - [7.18, 16.46, 0.80] 27 | - [31.35, 43.67, 0.80] 28 | - [22.77, 21.29, 0.80] 29 | - [37.97, 22.89, 0.80] 30 | - [7.10, 34.37, 0.80] 31 | - [31.62, 15.73, 0.80] 32 | - [43.74, 35.08, 0.80] 33 | - [37.82, 12.12, 0.80] 34 | - [15.83, 20.30, 0.80] 35 | - [38.25, 36.57, 0.80] 36 | - [3.25, 22.99, 0.80] 37 | - [14.60, 31.73, 0.80] 38 | - [24.42, 33.50, 0.80] 39 | - [10.97, 6.76, 0.80] 40 | - [14.58, 42.13, 0.80] 41 | - [25.24, 19.20, 0.80] 42 | - [35.43, 38.48, 0.80] 43 | - [36.31, 18.87, 0.80] 44 | - [10.90, 38.47, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex36.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [10.56, 30.38, -2.76] 3 | name: agent0 4 | goal: [22.66, 7.26, 0.74] 5 | - start: [8.39, 25.14, -2.06] 6 | name: agent1 7 | goal: [16.82, 16.31, -1.95] 8 | - start: [35.21, 43.66, 0.69] 9 | name: agent2 10 | goal: [33.04, 30.82, -2.06] 11 | - start: [23.22, 39.99, 2.89] 12 | name: agent3 13 | goal: [19.54, 23.92, -2.11] 14 | - start: [4.87, 39.81, -2.81] 15 | name: agent4 16 | goal: [38.26, 34.82, 0.28] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [17.37, 40.25, 0.80] 21 | - [20.98, 14.48, 0.80] 22 | - [41.81, 14.05, 0.80] 23 | - [8.86, 15.01, 0.80] 24 | - [26.98, 12.03, 0.80] 25 | - [19.48, 33.53, 0.80] 26 | - [11.74, 19.88, 0.80] 27 | - [34.13, 36.33, 0.80] 28 | - [6.82, 32.53, 0.80] 29 | - [43.39, 23.51, 0.80] 30 | - [35.01, 4.29, 0.80] 31 | - [24.11, 22.50, 0.80] 32 | - [27.05, 32.83, 0.80] 33 | - [21.39, 43.87, 0.80] 34 | - [44.89, 11.70, 0.80] 35 | - [46.97, 44.58, 0.80] 36 | - [48.03, 3.98, 0.80] 37 | - [14.72, 8.96, 0.80] 38 | - [12.92, 35.15, 0.80] 39 | - [8.17, 44.18, 0.80] 40 | - [29.14, 46.21, 0.80] 41 | - [19.59, 20.47, 0.80] 42 | - [1.79, 24.15, 0.80] 43 | - [38.09, 10.43, 0.80] 44 | - [9.89, 9.28, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex37.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [4.97, 5.93, 0.49] 3 | name: agent0 4 | goal: [21.64, 26.34, -2.69] 5 | - start: [27.33, 24.97, -2.18] 6 | name: agent1 7 | goal: [8.18, 20.76, 0.74] 8 | - start: [4.98, 42.17, -1.14] 9 | name: agent2 10 | goal: [16.27, 32.53, 0.73] 11 | - start: [35.96, 44.95, 0.39] 12 | name: agent3 13 | goal: [11.61, 31.91, 0.11] 14 | - start: [24.84, 12.62, 1.72] 15 | name: agent4 16 | goal: [36.32, 3.66, -2.35] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [43.34, 28.33, 0.80] 21 | - [1.73, 10.53, 0.80] 22 | - [33.77, 32.52, 0.80] 23 | - [42.83, 12.91, 0.80] 24 | - [4.59, 27.85, 0.80] 25 | - [42.26, 23.88, 0.80] 26 | - [25.68, 37.59, 0.80] 27 | - [20.46, 34.82, 0.80] 28 | - [1.72, 45.58, 0.80] 29 | - [33.34, 15.14, 0.80] 30 | - [10.16, 10.69, 0.80] 31 | - [20.08, 29.77, 0.80] 32 | - [46.56, 42.59, 0.80] 33 | - [33.78, 39.81, 0.80] 34 | - [13.92, 43.61, 0.80] 35 | - [40.10, 4.52, 0.80] 36 | - [41.54, 47.83, 0.80] 37 | - [29.34, 8.21, 0.80] 38 | - [43.39, 17.94, 0.80] 39 | - [3.51, 48.70, 0.80] 40 | - [37.92, 34.40, 0.80] 41 | - [11.31, 24.51, 0.80] 42 | - [41.98, 7.60, 0.80] 43 | - [17.08, 41.02, 0.80] 44 | - [17.84, 45.28, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex38.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [29.34, 29.36, 1.26] 3 | name: agent0 4 | goal: [44.09, 43.08, 1.28] 5 | - start: [17.02, 24.55, 0.49] 6 | name: agent1 7 | goal: [37.87, 42.32, 1.42] 8 | - start: [18.89, 40.53, -1.32] 9 | name: agent2 10 | goal: [27.71, 11.99, -0.56] 11 | - start: [38.59, 4.97, 0.35] 12 | name: agent3 13 | goal: [26.81, 34.97, 0.05] 14 | - start: [4.42, 14.11, 0.59] 15 | name: agent4 16 | goal: [8.72, 37.07, -3.09] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [22.55, 26.73, 0.80] 21 | - [36.81, 15.18, 0.80] 22 | - [32.39, 19.31, 0.80] 23 | - [11.74, 37.70, 0.80] 24 | - [26.87, 4.70, 0.80] 25 | - [43.76, 6.30, 0.80] 26 | - [12.74, 43.22, 0.80] 27 | - [10.47, 2.56, 0.80] 28 | - [23.81, 13.26, 0.80] 29 | - [19.86, 35.64, 0.80] 30 | - [45.41, 34.88, 0.80] 31 | - [23.62, 48.38, 0.80] 32 | - [42.06, 28.14, 0.80] 33 | - [19.82, 10.94, 0.80] 34 | - [34.43, 3.50, 0.80] 35 | - [45.14, 21.01, 0.80] 36 | - [40.82, 40.85, 0.80] 37 | - [46.79, 4.43, 0.80] 38 | - [7.18, 9.25, 0.80] 39 | - [16.60, 31.68, 0.80] 40 | - [9.20, 42.19, 0.80] 41 | - [31.10, 43.40, 0.80] 42 | - [44.62, 16.01, 0.80] 43 | - [25.45, 22.97, 0.80] 44 | - [42.99, 3.11, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex39.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [18.08, 38.56, -0.58] 3 | name: agent0 4 | goal: [5.43, 20.10, -3.00] 5 | - start: [14.59, 12.47, -0.10] 6 | name: agent1 7 | goal: [4.77, 26.97, -2.34] 8 | - start: [31.54, 6.32, 2.77] 9 | name: agent2 10 | goal: [20.55, 7.46, 0.45] 11 | - start: [20.17, 22.74, 0.18] 12 | name: agent3 13 | goal: [5.43, 35.11, 2.08] 14 | - start: [33.18, 41.75, 2.42] 15 | name: agent4 16 | goal: [20.74, 43.40, 0.79] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [37.51, 10.32, 0.80] 21 | - [34.63, 44.89, 0.80] 22 | - [20.79, 28.58, 0.80] 23 | - [35.93, 22.78, 0.80] 24 | - [12.58, 37.23, 0.80] 25 | - [40.95, 36.50, 0.80] 26 | - [25.99, 14.12, 0.80] 27 | - [1.49, 32.26, 0.80] 28 | - [15.20, 44.91, 0.80] 29 | - [29.66, 43.48, 0.80] 30 | - [45.25, 21.97, 0.80] 31 | - [9.49, 18.26, 0.80] 32 | - [48.47, 9.34, 0.80] 33 | - [38.63, 20.27, 0.80] 34 | - [19.07, 3.97, 0.80] 35 | - [27.93, 48.19, 0.80] 36 | - [31.67, 31.69, 0.80] 37 | - [30.06, 11.63, 0.80] 38 | - [1.94, 47.11, 0.80] 39 | - [44.27, 42.86, 0.80] 40 | - [48.20, 47.11, 0.80] 41 | - [28.55, 22.73, 0.80] 42 | - [9.77, 45.71, 0.80] 43 | - [25.68, 20.28, 0.80] 44 | - [18.61, 17.07, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex4.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [10.05, 11.75, 1.43] 3 | name: agent0 4 | goal: [38.89, 23.99, -2.31] 5 | - start: [28.50, 13.80, -0.82] 6 | name: agent1 7 | goal: [34.80, 5.26, -2.84] 8 | - start: [19.89, 11.31, 0.47] 9 | name: agent2 10 | goal: [41.80, 39.91, -1.12] 11 | - start: [11.26, 20.14, -0.63] 12 | name: agent3 13 | goal: [11.14, 42.23, -2.18] 14 | - start: [5.17, 31.69, 0.54] 15 | name: agent4 16 | goal: [21.32, 16.23, -1.22] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [27.92, 34.85, 0.80] 21 | - [22.68, 20.31, 0.80] 22 | - [15.61, 43.62, 0.80] 23 | - [43.54, 17.32, 0.80] 24 | - [38.76, 7.22, 0.80] 25 | - [30.29, 23.88, 0.80] 26 | - [31.21, 33.07, 0.80] 27 | - [18.49, 6.16, 0.80] 28 | - [15.19, 18.86, 0.80] 29 | - [32.53, 45.81, 0.80] 30 | - [49.16, 1.48, 0.80] 31 | - [9.94, 37.96, 0.80] 32 | - [11.12, 23.53, 0.80] 33 | - [32.55, 20.91, 0.80] 34 | - [18.61, 14.12, 0.80] 35 | - [5.72, 48.60, 0.80] 36 | - [24.52, 33.66, 0.80] 37 | - [6.18, 41.56, 0.80] 38 | - [23.26, 44.61, 0.80] 39 | - [34.73, 39.09, 0.80] 40 | - [12.55, 36.09, 0.80] 41 | - [29.25, 17.55, 0.80] 42 | - [33.61, 29.15, 0.80] 43 | - [23.02, 3.07, 0.80] 44 | - [26.77, 8.70, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex40.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [43.85, 4.51, 2.77] 3 | name: agent0 4 | goal: [3.51, 10.80, 2.39] 5 | - start: [22.00, 4.52, -3.10] 6 | name: agent1 7 | goal: [44.05, 18.20, -0.20] 8 | - start: [28.17, 40.75, -0.32] 9 | name: agent2 10 | goal: [35.83, 32.32, 2.01] 11 | - start: [3.57, 19.86, 2.48] 12 | name: agent3 13 | goal: [8.59, 13.99, 2.66] 14 | - start: [31.15, 26.19, 1.14] 15 | name: agent4 16 | goal: [43.72, 12.65, -1.34] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [45.10, 24.89, 0.80] 21 | - [45.78, 45.51, 0.80] 22 | - [3.49, 44.95, 0.80] 23 | - [30.78, 12.61, 0.80] 24 | - [33.99, 4.51, 0.80] 25 | - [35.80, 42.21, 0.80] 26 | - [41.59, 43.94, 0.80] 27 | - [20.99, 20.02, 0.80] 28 | - [29.96, 1.90, 0.80] 29 | - [13.77, 34.68, 0.80] 30 | - [17.62, 2.33, 0.80] 31 | - [13.80, 15.11, 0.80] 32 | - [33.15, 1.51, 0.80] 33 | - [42.59, 32.13, 0.80] 34 | - [12.15, 2.03, 0.80] 35 | - [39.10, 15.95, 0.80] 36 | - [12.81, 29.55, 0.80] 37 | - [24.74, 10.66, 0.80] 38 | - [27.54, 4.84, 0.80] 39 | - [23.94, 38.35, 0.80] 40 | - [40.65, 24.88, 0.80] 41 | - [36.76, 25.59, 0.80] 42 | - [24.24, 17.12, 0.80] 43 | - [21.09, 44.81, 0.80] 44 | - [2.03, 32.86, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex41.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [12.60, 17.60, 1.50] 3 | name: agent0 4 | goal: [7.20, 36.67, -2.03] 5 | - start: [13.26, 39.41, -1.00] 6 | name: agent1 7 | goal: [41.05, 20.70, -0.50] 8 | - start: [12.11, 12.47, -2.78] 9 | name: agent2 10 | goal: [22.70, 21.93, 2.80] 11 | - start: [17.72, 4.63, 0.13] 12 | name: agent3 13 | goal: [26.92, 20.13, -2.33] 14 | - start: [29.72, 43.76, 2.17] 15 | name: agent4 16 | goal: [24.92, 35.27, -2.99] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [10.15, 48.11, 0.80] 21 | - [18.83, 34.40, 0.80] 22 | - [36.35, 1.58, 0.80] 23 | - [29.67, 5.54, 0.80] 24 | - [13.09, 24.49, 0.80] 25 | - [47.28, 42.90, 0.80] 26 | - [21.10, 36.48, 0.80] 27 | - [14.91, 10.72, 0.80] 28 | - [10.43, 31.41, 0.80] 29 | - [22.97, 15.53, 0.80] 30 | - [37.57, 24.51, 0.80] 31 | - [28.99, 38.93, 0.80] 32 | - [16.24, 20.03, 0.80] 33 | - [27.30, 46.65, 0.80] 34 | - [15.26, 46.42, 0.80] 35 | - [47.14, 17.27, 0.80] 36 | - [28.77, 34.30, 0.80] 37 | - [31.82, 30.80, 0.80] 38 | - [43.71, 24.37, 0.80] 39 | - [38.60, 30.63, 0.80] 40 | - [35.55, 30.90, 0.80] 41 | - [35.86, 40.36, 0.80] 42 | - [22.30, 42.46, 0.80] 43 | - [32.20, 36.91, 0.80] 44 | - [26.02, 17.02, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex42.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [31.42, 16.39, -1.29] 3 | name: agent0 4 | goal: [25.59, 21.81, -1.46] 5 | - start: [27.79, 43.64, -0.52] 6 | name: agent1 7 | goal: [41.71, 15.58, 0.55] 8 | - start: [6.90, 34.88, -2.20] 9 | name: agent2 10 | goal: [6.80, 18.07, 2.40] 11 | - start: [16.28, 6.80, -1.12] 12 | name: agent3 13 | goal: [30.74, 26.28, 2.77] 14 | - start: [19.26, 14.92, -1.90] 15 | name: agent4 16 | goal: [17.74, 29.45, 2.97] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [10.83, 27.72, 0.80] 21 | - [29.10, 36.90, 0.80] 22 | - [3.41, 22.01, 0.80] 23 | - [31.34, 46.15, 0.80] 24 | - [9.37, 1.73, 0.80] 25 | - [44.11, 7.29, 0.80] 26 | - [48.90, 23.63, 0.80] 27 | - [33.53, 2.21, 0.80] 28 | - [35.31, 44.75, 0.80] 29 | - [35.41, 37.78, 0.80] 30 | - [36.88, 22.12, 0.80] 31 | - [48.27, 42.00, 0.80] 32 | - [35.56, 12.72, 0.80] 33 | - [25.02, 7.90, 0.80] 34 | - [5.08, 42.90, 0.80] 35 | - [18.02, 25.83, 0.80] 36 | - [45.04, 41.70, 0.80] 37 | - [31.20, 33.16, 0.80] 38 | - [8.88, 37.98, 0.80] 39 | - [16.89, 41.09, 0.80] 40 | - [6.78, 8.21, 0.80] 41 | - [2.19, 15.07, 0.80] 42 | - [15.64, 16.46, 0.80] 43 | - [15.02, 2.53, 0.80] 44 | - [21.87, 45.36, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex43.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [41.17, 40.83, -2.86] 3 | name: agent0 4 | goal: [23.85, 44.19, 1.88] 5 | - start: [15.91, 5.59, -3.10] 6 | name: agent1 7 | goal: [35.74, 37.68, -1.53] 8 | - start: [44.28, 31.68, -3.07] 9 | name: agent2 10 | goal: [19.01, 24.88, 2.72] 11 | - start: [10.46, 23.44, 0.70] 12 | name: agent3 13 | goal: [14.15, 9.79, 0.28] 14 | - start: [4.98, 7.32, -0.09] 15 | name: agent4 16 | goal: [32.05, 8.68, 1.19] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [9.58, 26.62, 0.80] 21 | - [28.49, 12.19, 0.80] 22 | - [31.21, 20.99, 0.80] 23 | - [39.32, 24.32, 0.80] 24 | - [10.09, 32.00, 0.80] 25 | - [37.35, 48.36, 0.80] 26 | - [22.80, 33.14, 0.80] 27 | - [7.33, 1.63, 0.80] 28 | - [47.70, 21.20, 0.80] 29 | - [24.59, 1.35, 0.80] 30 | - [39.21, 20.03, 0.80] 31 | - [19.11, 9.72, 0.80] 32 | - [10.10, 6.02, 0.80] 33 | - [26.19, 38.03, 0.80] 34 | - [43.12, 26.37, 0.80] 35 | - [28.24, 3.94, 0.80] 36 | - [28.51, 22.46, 0.80] 37 | - [7.87, 35.75, 0.80] 38 | - [32.10, 15.33, 0.80] 39 | - [17.55, 37.89, 0.80] 40 | - [12.50, 34.95, 0.80] 41 | - [33.88, 25.63, 0.80] 42 | - [6.67, 16.96, 0.80] 43 | - [25.55, 30.04, 0.80] 44 | - [22.12, 28.96, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex44.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [17.50, 41.07, -1.54] 3 | name: agent0 4 | goal: [42.30, 16.75, -0.53] 5 | - start: [9.04, 29.53, -2.74] 6 | name: agent1 7 | goal: [35.28, 24.52, 1.36] 8 | - start: [31.96, 18.01, 0.82] 9 | name: agent2 10 | goal: [37.75, 38.78, -1.74] 11 | - start: [39.62, 30.89, -1.97] 12 | name: agent3 13 | goal: [27.72, 39.30, -1.51] 14 | - start: [13.79, 36.31, 3.07] 15 | name: agent4 16 | goal: [18.06, 10.64, -1.17] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [45.22, 5.40, 0.80] 21 | - [34.65, 29.97, 0.80] 22 | - [1.12, 17.23, 0.80] 23 | - [35.85, 42.35, 0.80] 24 | - [26.02, 11.68, 0.80] 25 | - [4.36, 22.94, 0.80] 26 | - [41.65, 2.66, 0.80] 27 | - [12.32, 20.59, 0.80] 28 | - [38.12, 12.61, 0.80] 29 | - [8.07, 37.57, 0.80] 30 | - [34.42, 5.98, 0.80] 31 | - [5.35, 9.30, 0.80] 32 | - [44.34, 23.75, 0.80] 33 | - [47.36, 9.15, 0.80] 34 | - [35.29, 2.48, 0.80] 35 | - [17.03, 17.93, 0.80] 36 | - [30.80, 35.22, 0.80] 37 | - [40.77, 39.46, 0.80] 38 | - [23.88, 6.81, 0.80] 39 | - [5.75, 18.25, 0.80] 40 | - [1.82, 2.88, 0.80] 41 | - [19.79, 24.58, 0.80] 42 | - [43.50, 43.36, 0.80] 43 | - [42.62, 27.00, 0.80] 44 | - [23.69, 14.58, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex45.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [4.66, 7.58, 0.27] 3 | name: agent0 4 | goal: [16.42, 38.69, 0.70] 5 | - start: [7.05, 14.71, 3.07] 6 | name: agent1 7 | goal: [39.50, 32.26, 1.21] 8 | - start: [22.00, 20.72, -0.06] 9 | name: agent2 10 | goal: [30.19, 41.46, 0.52] 11 | - start: [32.85, 37.86, 2.64] 12 | name: agent3 13 | goal: [38.16, 14.44, -2.09] 14 | - start: [42.50, 24.85, 1.86] 15 | name: agent4 16 | goal: [18.06, 17.82, 1.76] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [20.93, 23.65, 0.80] 21 | - [25.95, 38.93, 0.80] 22 | - [37.01, 40.67, 0.80] 23 | - [21.53, 12.28, 0.80] 24 | - [15.32, 47.24, 0.80] 25 | - [36.03, 21.14, 0.80] 26 | - [15.09, 32.12, 0.80] 27 | - [20.56, 5.72, 0.80] 28 | - [1.99, 19.14, 0.80] 29 | - [6.97, 24.39, 0.80] 30 | - [3.08, 31.70, 0.80] 31 | - [40.41, 22.32, 0.80] 32 | - [44.62, 31.07, 0.80] 33 | - [41.27, 40.58, 0.80] 34 | - [19.58, 29.81, 0.80] 35 | - [19.42, 44.17, 0.80] 36 | - [2.63, 46.62, 0.80] 37 | - [40.62, 35.89, 0.80] 38 | - [14.76, 11.34, 0.80] 39 | - [11.40, 12.57, 0.80] 40 | - [44.80, 12.10, 0.80] 41 | - [43.89, 5.15, 0.80] 42 | - [34.74, 13.76, 0.80] 43 | - [28.38, 15.53, 0.80] 44 | - [31.83, 33.40, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex46.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [18.72, 7.28, 2.42] 3 | name: agent0 4 | goal: [31.87, 7.17, -2.34] 5 | - start: [28.40, 23.04, 2.26] 6 | name: agent1 7 | goal: [6.86, 42.14, 0.46] 8 | - start: [16.49, 34.34, -0.16] 9 | name: agent2 10 | goal: [44.27, 3.39, -0.66] 11 | - start: [30.68, 34.33, 0.59] 12 | name: agent3 13 | goal: [42.02, 10.45, 0.06] 14 | - start: [44.95, 19.38, -0.78] 15 | name: agent4 16 | goal: [12.83, 6.92, -0.11] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [0.90, 31.31, 0.80] 21 | - [3.94, 33.05, 0.80] 22 | - [15.88, 9.01, 0.80] 23 | - [24.59, 34.05, 0.80] 24 | - [26.13, 12.16, 0.80] 25 | - [45.43, 36.16, 0.80] 26 | - [39.96, 32.78, 0.80] 27 | - [48.37, 10.50, 0.80] 28 | - [32.28, 13.66, 0.80] 29 | - [25.83, 21.35, 0.80] 30 | - [48.75, 29.52, 0.80] 31 | - [25.24, 49.05, 0.80] 32 | - [14.24, 32.14, 0.80] 33 | - [15.20, 48.55, 0.80] 34 | - [39.36, 3.17, 0.80] 35 | - [34.38, 24.79, 0.80] 36 | - [24.37, 24.49, 0.80] 37 | - [9.82, 6.53, 0.80] 38 | - [39.11, 36.96, 0.80] 39 | - [28.31, 9.66, 0.80] 40 | - [10.67, 40.99, 0.80] 41 | - [3.65, 6.30, 0.80] 42 | - [39.03, 17.27, 0.80] 43 | - [27.53, 34.96, 0.80] 44 | - [23.35, 4.48, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex47.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [38.86, 33.69, -0.88] 3 | name: agent0 4 | goal: [3.99, 34.76, 0.25] 5 | - start: [20.46, 6.81, 2.88] 6 | name: agent1 7 | goal: [23.87, 18.79, 0.19] 8 | - start: [38.13, 6.80, 2.14] 9 | name: agent2 10 | goal: [10.34, 21.34, 2.54] 11 | - start: [4.99, 24.52, -0.07] 12 | name: agent3 13 | goal: [42.82, 25.61, -2.63] 14 | - start: [4.33, 14.59, 2.94] 15 | name: agent4 16 | goal: [24.21, 36.06, 1.49] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [31.57, 6.95, 0.80] 21 | - [43.76, 32.48, 0.80] 22 | - [34.13, 28.88, 0.80] 23 | - [20.36, 37.71, 0.80] 24 | - [41.68, 3.18, 0.80] 25 | - [1.56, 19.96, 0.80] 26 | - [44.23, 10.03, 0.80] 27 | - [8.84, 33.60, 0.80] 28 | - [35.47, 37.98, 0.80] 29 | - [19.77, 12.05, 0.80] 30 | - [28.27, 22.04, 0.80] 31 | - [22.62, 40.81, 0.80] 32 | - [2.14, 10.04, 0.80] 33 | - [14.60, 43.79, 0.80] 34 | - [43.93, 5.54, 0.80] 35 | - [44.74, 23.20, 0.80] 36 | - [17.16, 35.97, 0.80] 37 | - [7.61, 2.82, 0.80] 38 | - [12.45, 47.95, 0.80] 39 | - [20.05, 20.33, 0.80] 40 | - [19.99, 31.47, 0.80] 41 | - [8.18, 26.81, 0.80] 42 | - [18.06, 41.29, 0.80] 43 | - [18.19, 14.92, 0.80] 44 | - [2.44, 6.70, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex48.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [27.57, 39.38, -1.37] 3 | name: agent0 4 | goal: [38.52, 15.39, -2.68] 5 | - start: [5.11, 43.30, 2.06] 6 | name: agent1 7 | goal: [31.97, 15.06, 3.00] 8 | - start: [30.19, 21.32, 0.52] 9 | name: agent2 10 | goal: [39.99, 32.69, 1.34] 11 | - start: [35.94, 24.38, 2.94] 12 | name: agent3 13 | goal: [9.30, 40.65, -2.27] 14 | - start: [11.50, 26.72, -0.90] 15 | name: agent4 16 | goal: [44.95, 9.41, 1.95] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [20.96, 32.43, 0.80] 21 | - [7.33, 37.38, 0.80] 22 | - [1.97, 39.99, 0.80] 23 | - [4.77, 48.75, 0.80] 24 | - [42.11, 38.70, 0.80] 25 | - [42.73, 24.51, 0.80] 26 | - [5.71, 18.20, 0.80] 27 | - [6.71, 1.50, 0.80] 28 | - [4.38, 31.87, 0.80] 29 | - [37.69, 8.05, 0.80] 30 | - [46.43, 13.74, 0.80] 31 | - [17.39, 3.27, 0.80] 32 | - [48.91, 17.10, 0.80] 33 | - [4.64, 35.21, 0.80] 34 | - [14.01, 23.61, 0.80] 35 | - [17.78, 20.20, 0.80] 36 | - [27.66, 12.39, 0.80] 37 | - [39.81, 42.02, 0.80] 38 | - [21.76, 9.91, 0.80] 39 | - [12.78, 40.31, 0.80] 40 | - [45.28, 2.83, 0.80] 41 | - [9.14, 21.24, 0.80] 42 | - [16.98, 46.44, 0.80] 43 | - [16.79, 34.08, 0.80] 44 | - [8.20, 12.03, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex49.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [33.42, 11.62, 1.86] 3 | name: agent0 4 | goal: [16.66, 28.99, -0.37] 5 | - start: [42.12, 18.30, -2.88] 6 | name: agent1 7 | goal: [34.79, 43.27, -2.39] 8 | - start: [17.61, 44.44, 0.84] 9 | name: agent2 10 | goal: [38.17, 30.51, 0.58] 11 | - start: [13.56, 24.61, -2.15] 12 | name: agent3 13 | goal: [43.69, 4.67, -2.58] 14 | - start: [36.34, 38.20, -0.39] 15 | name: agent4 16 | goal: [11.78, 20.46, -1.62] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [45.77, 43.03, 0.80] 21 | - [25.49, 24.03, 0.80] 22 | - [19.83, 10.51, 0.80] 23 | - [9.90, 12.48, 0.80] 24 | - [30.62, 41.09, 0.80] 25 | - [44.25, 38.17, 0.80] 26 | - [2.14, 47.86, 0.80] 27 | - [42.56, 1.71, 0.80] 28 | - [19.27, 32.47, 0.80] 29 | - [2.50, 18.86, 0.80] 30 | - [6.26, 40.38, 0.80] 31 | - [30.67, 33.42, 0.80] 32 | - [35.80, 5.89, 0.80] 33 | - [46.67, 33.43, 0.80] 34 | - [34.74, 28.87, 0.80] 35 | - [39.80, 5.00, 0.80] 36 | - [38.81, 14.51, 0.80] 37 | - [38.75, 9.40, 0.80] 38 | - [3.27, 15.50, 0.80] 39 | - [15.50, 1.77, 0.80] 40 | - [4.38, 1.20, 0.80] 41 | - [44.25, 47.21, 0.80] 42 | - [1.68, 34.00, 0.80] 43 | - [5.10, 22.70, 0.80] 44 | - [35.17, 47.98, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex5.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [16.36, 5.32, 2.22] 3 | name: agent0 4 | goal: [17.26, 29.92, -3.07] 5 | - start: [28.37, 20.95, 1.63] 6 | name: agent1 7 | goal: [38.71, 14.37, 1.07] 8 | - start: [22.78, 35.55, 2.13] 9 | name: agent2 10 | goal: [7.25, 20.01, 2.07] 11 | - start: [11.43, 6.00, 0.06] 12 | name: agent3 13 | goal: [37.02, 29.86, -1.67] 14 | - start: [33.96, 16.24, 0.07] 15 | name: agent4 16 | goal: [7.39, 34.20, 2.78] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [47.03, 45.89, 0.80] 21 | - [5.74, 37.19, 0.80] 22 | - [43.62, 23.32, 0.80] 23 | - [33.84, 29.15, 0.80] 24 | - [19.92, 31.74, 0.80] 25 | - [18.61, 25.64, 0.80] 26 | - [4.10, 45.66, 0.80] 27 | - [34.61, 4.65, 0.80] 28 | - [43.02, 41.35, 0.80] 29 | - [39.44, 32.70, 0.80] 30 | - [4.25, 22.84, 0.80] 31 | - [6.11, 43.26, 0.80] 32 | - [16.72, 40.76, 0.80] 33 | - [35.68, 25.85, 0.80] 34 | - [33.36, 34.52, 0.80] 35 | - [30.98, 24.58, 0.80] 36 | - [21.22, 19.86, 0.80] 37 | - [11.83, 0.92, 0.80] 38 | - [42.75, 3.56, 0.80] 39 | - [19.39, 11.87, 0.80] 40 | - [2.70, 1.81, 0.80] 41 | - [29.94, 16.31, 0.80] 42 | - [24.64, 47.99, 0.80] 43 | - [28.93, 9.98, 0.80] 44 | - [31.08, 30.60, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex50.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [21.07, 4.14, 0.63] 3 | name: agent0 4 | goal: [42.82, 38.02, -2.84] 5 | - start: [28.29, 4.73, 0.11] 6 | name: agent1 7 | goal: [34.90, 27.08, 0.96] 8 | - start: [10.30, 42.67, -2.17] 9 | name: agent2 10 | goal: [20.82, 35.80, -0.19] 11 | - start: [26.65, 30.22, -1.94] 12 | name: agent3 13 | goal: [15.93, 37.92, -0.11] 14 | - start: [37.43, 13.58, -0.89] 15 | name: agent4 16 | goal: [36.73, 44.47, -1.59] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [38.89, 38.30, 0.80] 21 | - [16.78, 42.08, 0.80] 22 | - [26.82, 8.76, 0.80] 23 | - [13.52, 21.71, 0.80] 24 | - [24.10, 34.73, 0.80] 25 | - [41.43, 5.63, 0.80] 26 | - [32.18, 18.73, 0.80] 27 | - [32.65, 29.70, 0.80] 28 | - [40.36, 20.66, 0.80] 29 | - [29.69, 46.66, 0.80] 30 | - [8.01, 4.24, 0.80] 31 | - [43.21, 15.66, 0.80] 32 | - [31.94, 15.19, 0.80] 33 | - [34.83, 40.64, 0.80] 34 | - [3.14, 24.49, 0.80] 35 | - [3.70, 18.76, 0.80] 36 | - [47.53, 47.73, 0.80] 37 | - [48.75, 41.53, 0.80] 38 | - [7.96, 34.10, 0.80] 39 | - [5.10, 35.73, 0.80] 40 | - [11.50, 37.60, 0.80] 41 | - [24.96, 21.74, 0.80] 42 | - [31.66, 26.03, 0.80] 43 | - [21.32, 0.81, 0.80] 44 | - [21.15, 21.08, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex51.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [14.45, 22.72, 0.06] 3 | name: agent0 4 | goal: [29.57, 20.56, 0.52] 5 | - start: [19.34, 23.35, 0.98] 6 | name: agent1 7 | goal: [39.20, 16.83, 2.01] 8 | - start: [10.79, 8.85, 2.11] 9 | name: agent2 10 | goal: [24.68, 30.48, 0.60] 11 | - start: [44.27, 33.22, -1.43] 12 | name: agent3 13 | goal: [24.63, 11.12, -0.12] 14 | - start: [7.88, 14.14, 0.16] 15 | name: agent4 16 | goal: [30.23, 26.62, -0.45] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [25.19, 27.08, 0.80] 21 | - [22.28, 4.10, 0.80] 22 | - [8.08, 27.66, 0.80] 23 | - [9.20, 43.05, 0.80] 24 | - [11.78, 17.83, 0.80] 25 | - [29.07, 44.20, 0.80] 26 | - [48.13, 28.52, 0.80] 27 | - [20.55, 27.40, 0.80] 28 | - [46.69, 13.88, 0.80] 29 | - [36.82, 40.72, 0.80] 30 | - [0.82, 38.33, 0.80] 31 | - [39.86, 36.26, 0.80] 32 | - [22.20, 19.74, 0.80] 33 | - [9.50, 22.80, 0.80] 34 | - [16.62, 38.21, 0.80] 35 | - [23.86, 14.28, 0.80] 36 | - [42.55, 45.05, 0.80] 37 | - [2.18, 23.38, 0.80] 38 | - [41.80, 41.20, 0.80] 39 | - [30.80, 16.15, 0.80] 40 | - [0.83, 6.25, 0.80] 41 | - [7.71, 48.90, 0.80] 42 | - [13.59, 43.35, 0.80] 43 | - [4.36, 11.46, 0.80] 44 | - [10.59, 1.44, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex52.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [27.46, 9.90, 2.20] 3 | name: agent0 4 | goal: [31.95, 16.26, -0.91] 5 | - start: [38.97, 21.00, -1.10] 6 | name: agent1 7 | goal: [44.07, 16.98, 2.11] 8 | - start: [41.41, 12.22, 0.86] 9 | name: agent2 10 | goal: [14.69, 19.56, -0.39] 11 | - start: [30.52, 39.33, 0.63] 12 | name: agent3 13 | goal: [27.51, 29.53, 2.77] 14 | - start: [12.75, 12.04, -1.18] 15 | name: agent4 16 | goal: [8.39, 19.17, 2.41] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [1.20, 8.32, 0.80] 21 | - [19.66, 5.30, 0.80] 22 | - [36.15, 18.16, 0.80] 23 | - [21.66, 33.70, 0.80] 24 | - [35.76, 40.36, 0.80] 25 | - [9.61, 39.99, 0.80] 26 | - [20.25, 23.51, 0.80] 27 | - [19.25, 15.84, 0.80] 28 | - [39.02, 36.00, 0.80] 29 | - [2.15, 43.17, 0.80] 30 | - [47.02, 3.13, 0.80] 31 | - [12.66, 2.65, 0.80] 32 | - [37.94, 15.64, 0.80] 33 | - [22.28, 27.90, 0.80] 34 | - [45.18, 20.75, 0.80] 35 | - [5.26, 37.48, 0.80] 36 | - [10.65, 15.39, 0.80] 37 | - [31.63, 45.94, 0.80] 38 | - [9.21, 7.04, 0.80] 39 | - [12.08, 29.51, 0.80] 40 | - [13.90, 38.94, 0.80] 41 | - [43.79, 8.18, 0.80] 42 | - [34.39, 1.13, 0.80] 43 | - [17.61, 42.36, 0.80] 44 | - [29.00, 47.98, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex53.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [13.21, 18.58, 0.82] 3 | name: agent0 4 | goal: [5.49, 30.13, 0.62] 5 | - start: [18.43, 24.36, 0.38] 6 | name: agent1 7 | goal: [40.27, 23.62, 1.50] 8 | - start: [23.76, 22.72, -1.07] 9 | name: agent2 10 | goal: [43.46, 44.81, 0.38] 11 | - start: [27.07, 11.82, -1.89] 12 | name: agent3 13 | goal: [5.49, 12.34, 1.27] 14 | - start: [35.36, 30.64, -0.41] 15 | name: agent4 16 | goal: [39.06, 10.96, 2.81] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [20.32, 18.77, 0.80] 21 | - [15.06, 35.18, 0.80] 22 | - [14.13, 29.90, 0.80] 23 | - [32.67, 45.25, 0.80] 24 | - [18.11, 2.71, 0.80] 25 | - [20.11, 32.35, 0.80] 26 | - [41.09, 3.70, 0.80] 27 | - [49.17, 4.65, 0.80] 28 | - [28.05, 40.73, 0.80] 29 | - [9.56, 9.02, 0.80] 30 | - [42.89, 31.73, 0.80] 31 | - [17.66, 46.03, 0.80] 32 | - [37.30, 41.40, 0.80] 33 | - [45.91, 18.07, 0.80] 34 | - [19.66, 48.43, 0.80] 35 | - [27.59, 4.43, 0.80] 36 | - [26.37, 37.89, 0.80] 37 | - [21.24, 29.20, 0.80] 38 | - [14.33, 13.96, 0.80] 39 | - [4.38, 21.37, 0.80] 40 | - [5.96, 39.52, 0.80] 41 | - [48.35, 28.43, 0.80] 42 | - [2.89, 15.84, 0.80] 43 | - [25.53, 7.33, 0.80] 44 | - [2.78, 47.54, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex54.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [7.09, 19.59, -0.99] 3 | name: agent0 4 | goal: [22.18, 10.28, 0.67] 5 | - start: [23.48, 24.09, -3.12] 6 | name: agent1 7 | goal: [33.42, 26.33, 2.81] 8 | - start: [14.99, 7.82, -2.26] 9 | name: agent2 10 | goal: [19.39, 19.11, 2.97] 11 | - start: [31.34, 4.19, 0.86] 12 | name: agent3 13 | goal: [10.13, 33.09, 0.59] 14 | - start: [38.80, 38.80, -2.24] 15 | name: agent4 16 | goal: [26.39, 42.70, 1.61] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [8.79, 16.28, 0.80] 21 | - [45.46, 19.64, 0.80] 22 | - [6.95, 4.03, 0.80] 23 | - [45.50, 37.13, 0.80] 24 | - [38.11, 5.20, 0.80] 25 | - [43.10, 44.77, 0.80] 26 | - [39.45, 2.23, 0.80] 27 | - [1.21, 37.05, 0.80] 28 | - [29.94, 8.64, 0.80] 29 | - [21.48, 30.02, 0.80] 30 | - [13.38, 12.47, 0.80] 31 | - [41.65, 5.87, 0.80] 32 | - [41.50, 34.06, 0.80] 33 | - [10.67, 18.69, 0.80] 34 | - [43.49, 22.37, 0.80] 35 | - [29.01, 30.63, 0.80] 36 | - [21.81, 41.24, 0.80] 37 | - [39.18, 45.85, 0.80] 38 | - [23.07, 44.21, 0.80] 39 | - [16.18, 43.97, 0.80] 40 | - [47.19, 27.43, 0.80] 41 | - [2.21, 22.88, 0.80] 42 | - [17.55, 25.16, 0.80] 43 | - [40.84, 20.56, 0.80] 44 | - [38.08, 14.91, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex55.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [21.37, 7.08, -2.75] 3 | name: agent0 4 | goal: [16.63, 19.60, -0.52] 5 | - start: [22.90, 38.80, 1.39] 6 | name: agent1 7 | goal: [44.03, 10.38, 0.57] 8 | - start: [30.14, 44.52, -1.68] 9 | name: agent2 10 | goal: [28.50, 8.64, 2.35] 11 | - start: [37.35, 23.73, -0.66] 12 | name: agent3 13 | goal: [38.47, 43.32, -3.11] 14 | - start: [5.74, 10.86, -2.44] 15 | name: agent4 16 | goal: [11.94, 3.44, -3.11] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [29.36, 38.02, 0.80] 21 | - [30.40, 11.59, 0.80] 22 | - [4.94, 24.55, 0.80] 23 | - [48.34, 43.78, 0.80] 24 | - [46.90, 14.86, 0.80] 25 | - [45.99, 40.31, 0.80] 26 | - [10.42, 16.80, 0.80] 27 | - [30.89, 27.60, 0.80] 28 | - [35.14, 7.96, 0.80] 29 | - [7.61, 34.61, 0.80] 30 | - [27.01, 5.35, 0.80] 31 | - [13.53, 15.97, 0.80] 32 | - [31.58, 1.74, 0.80] 33 | - [22.01, 15.72, 0.80] 34 | - [36.60, 40.69, 0.80] 35 | - [48.79, 35.27, 0.80] 36 | - [12.22, 25.00, 0.80] 37 | - [45.18, 34.89, 0.80] 38 | - [47.38, 5.71, 0.80] 39 | - [40.91, 39.07, 0.80] 40 | - [4.04, 40.95, 0.80] 41 | - [14.98, 5.00, 0.80] 42 | - [26.58, 35.02, 0.80] 43 | - [28.12, 15.96, 0.80] 44 | - [25.60, 2.20, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex56.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [26.67, 20.12, 1.29] 3 | name: agent0 4 | goal: [3.46, 29.75, 2.30] 5 | - start: [17.01, 34.91, 2.63] 6 | name: agent1 7 | goal: [9.23, 15.54, 0.43] 8 | - start: [41.20, 23.66, 0.58] 9 | name: agent2 10 | goal: [28.55, 35.86, -1.52] 11 | - start: [34.48, 28.78, 1.46] 12 | name: agent3 13 | goal: [4.35, 20.28, 0.22] 14 | - start: [34.59, 43.79, -0.53] 15 | name: agent4 16 | goal: [11.96, 40.68, 3.12] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [17.01, 8.68, 0.80] 21 | - [28.73, 28.32, 0.80] 22 | - [47.00, 1.45, 0.80] 23 | - [31.95, 7.81, 0.80] 24 | - [22.83, 6.55, 0.80] 25 | - [36.58, 14.81, 0.80] 26 | - [39.44, 47.06, 0.80] 27 | - [39.65, 15.16, 0.80] 28 | - [25.78, 41.82, 0.80] 29 | - [41.04, 37.69, 0.80] 30 | - [4.30, 37.36, 0.80] 31 | - [19.98, 4.54, 0.80] 32 | - [25.28, 35.51, 0.80] 33 | - [28.23, 4.81, 0.80] 34 | - [21.14, 25.15, 0.80] 35 | - [33.87, 10.58, 0.80] 36 | - [47.10, 22.77, 0.80] 37 | - [3.40, 7.33, 0.80] 38 | - [24.31, 22.06, 0.80] 39 | - [32.49, 35.35, 0.80] 40 | - [3.83, 15.60, 0.80] 41 | - [21.38, 37.03, 0.80] 42 | - [10.45, 2.99, 0.80] 43 | - [6.99, 23.42, 0.80] 44 | - [16.16, 27.03, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex57.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [21.75, 40.69, 2.73] 3 | name: agent0 4 | goal: [17.02, 43.49, -0.27] 5 | - start: [34.34, 43.63, -2.23] 6 | name: agent1 7 | goal: [8.52, 17.67, 0.99] 8 | - start: [13.61, 9.05, 3.07] 9 | name: agent2 10 | goal: [14.31, 24.44, -1.52] 11 | - start: [25.58, 24.21, 0.93] 12 | name: agent3 13 | goal: [11.22, 42.62, -0.67] 14 | - start: [7.86, 37.29, 2.93] 15 | name: agent4 16 | goal: [5.95, 4.33, -1.43] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [2.79, 45.36, 0.80] 21 | - [36.82, 29.14, 0.80] 22 | - [47.74, 24.06, 0.80] 23 | - [47.04, 20.88, 0.80] 24 | - [3.29, 33.17, 0.80] 25 | - [36.37, 47.28, 0.80] 26 | - [9.90, 47.56, 0.80] 27 | - [39.43, 16.21, 0.80] 28 | - [0.92, 25.25, 0.80] 29 | - [34.57, 16.15, 0.80] 30 | - [9.71, 6.84, 0.80] 31 | - [40.77, 42.85, 0.80] 32 | - [40.71, 20.60, 0.80] 33 | - [40.01, 1.70, 0.80] 34 | - [29.72, 48.52, 0.80] 35 | - [17.87, 31.02, 0.80] 36 | - [4.87, 9.99, 0.80] 37 | - [43.93, 32.49, 0.80] 38 | - [45.07, 5.62, 0.80] 39 | - [46.49, 15.92, 0.80] 40 | - [21.06, 12.14, 0.80] 41 | - [45.54, 47.67, 0.80] 42 | - [33.72, 33.83, 0.80] 43 | - [37.38, 34.61, 0.80] 44 | - [28.61, 45.59, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex58.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [19.39, 4.30, 2.78] 3 | name: agent0 4 | goal: [8.03, 15.76, -1.60] 5 | - start: [20.38, 27.57, 0.96] 6 | name: agent1 7 | goal: [39.03, 41.94, 2.01] 8 | - start: [33.55, 7.53, -1.77] 9 | name: agent2 10 | goal: [9.00, 3.44, 0.33] 11 | - start: [7.99, 34.05, 2.39] 12 | name: agent3 13 | goal: [38.04, 26.11, -2.72] 14 | - start: [39.84, 5.72, -1.64] 15 | name: agent4 16 | goal: [16.73, 32.20, -1.42] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [10.02, 7.05, 0.80] 21 | - [29.67, 33.39, 0.80] 22 | - [22.14, 1.73, 0.80] 23 | - [44.48, 6.18, 0.80] 24 | - [3.01, 43.13, 0.80] 25 | - [32.24, 25.35, 0.80] 26 | - [4.04, 30.78, 0.80] 27 | - [17.77, 12.76, 0.80] 28 | - [45.48, 31.68, 0.80] 29 | - [26.77, 31.82, 0.80] 30 | - [35.89, 4.82, 0.80] 31 | - [13.98, 22.72, 0.80] 32 | - [35.27, 42.93, 0.80] 33 | - [27.25, 14.92, 0.80] 34 | - [27.85, 8.56, 0.80] 35 | - [47.28, 8.28, 0.80] 36 | - [48.60, 12.99, 0.80] 37 | - [7.48, 43.14, 0.80] 38 | - [4.55, 35.85, 0.80] 39 | - [14.58, 16.05, 0.80] 40 | - [5.30, 17.15, 0.80] 41 | - [31.58, 29.60, 0.80] 42 | - [25.13, 4.10, 0.80] 43 | - [29.58, 39.33, 0.80] 44 | - [21.73, 35.01, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex59.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [41.49, 18.88, -2.91] 3 | name: agent0 4 | goal: [12.47, 17.87, 2.78] 5 | - start: [32.24, 38.80, 1.37] 6 | name: agent1 7 | goal: [36.78, 6.63, 0.03] 8 | - start: [42.53, 41.09, 0.84] 9 | name: agent2 10 | goal: [33.69, 33.42, -0.31] 11 | - start: [32.92, 14.44, -3.01] 12 | name: agent3 13 | goal: [6.32, 25.63, -3.14] 14 | - start: [23.78, 38.25, -1.32] 15 | name: agent4 16 | goal: [6.84, 7.30, -1.82] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [42.05, 44.36, 0.80] 21 | - [1.30, 3.38, 0.80] 22 | - [45.27, 9.30, 0.80] 23 | - [38.90, 40.48, 0.80] 24 | - [10.43, 1.10, 0.80] 25 | - [26.16, 30.70, 0.80] 26 | - [31.84, 3.46, 0.80] 27 | - [46.61, 36.99, 0.80] 28 | - [14.94, 40.99, 0.80] 29 | - [37.84, 17.36, 0.80] 30 | - [37.18, 30.86, 0.80] 31 | - [26.95, 20.80, 0.80] 32 | - [22.96, 41.23, 0.80] 33 | - [25.67, 26.40, 0.80] 34 | - [12.91, 24.76, 0.80] 35 | - [25.77, 34.63, 0.80] 36 | - [8.73, 15.51, 0.80] 37 | - [48.11, 8.19, 0.80] 38 | - [29.88, 19.65, 0.80] 39 | - [6.57, 30.27, 0.80] 40 | - [3.94, 22.39, 0.80] 41 | - [5.98, 49.03, 0.80] 42 | - [41.32, 32.21, 0.80] 43 | - [11.50, 32.12, 0.80] 44 | - [47.53, 14.71, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex6.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [7.87, 10.56, 2.45] 3 | name: agent0 4 | goal: [18.59, 40.08, 2.39] 5 | - start: [17.88, 18.41, -0.13] 6 | name: agent1 7 | goal: [27.45, 10.45, 1.98] 8 | - start: [31.70, 33.10, -2.65] 9 | name: agent2 10 | goal: [13.67, 29.56, -2.84] 11 | - start: [6.61, 33.78, -1.60] 12 | name: agent3 13 | goal: [14.00, 7.44, -2.06] 14 | - start: [30.60, 37.98, -2.53] 15 | name: agent4 16 | goal: [28.11, 3.34, -2.18] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [48.01, 7.31, 0.80] 21 | - [43.04, 10.89, 0.80] 22 | - [39.58, 11.54, 0.80] 23 | - [26.53, 13.53, 0.80] 24 | - [47.32, 22.31, 0.80] 25 | - [23.33, 21.68, 0.80] 26 | - [2.41, 12.20, 0.80] 27 | - [35.74, 44.43, 0.80] 28 | - [4.28, 20.83, 0.80] 29 | - [17.79, 43.89, 0.80] 30 | - [33.40, 41.50, 0.80] 31 | - [9.88, 48.17, 0.80] 32 | - [23.38, 31.04, 0.80] 33 | - [44.83, 35.32, 0.80] 34 | - [21.16, 43.34, 0.80] 35 | - [13.14, 14.51, 0.80] 36 | - [2.34, 36.07, 0.80] 37 | - [2.88, 16.22, 0.80] 38 | - [13.01, 3.17, 0.80] 39 | - [41.71, 37.68, 0.80] 40 | - [32.22, 44.53, 0.80] 41 | - [21.28, 15.99, 0.80] 42 | - [10.31, 41.13, 0.80] 43 | - [35.18, 8.85, 0.80] 44 | - [48.07, 16.49, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex7.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [10.79, 28.70, 2.67] 3 | name: agent0 4 | goal: [6.29, 29.16, -0.67] 5 | - start: [11.79, 43.40, -1.77] 6 | name: agent1 7 | goal: [14.86, 3.87, 0.78] 8 | - start: [42.98, 43.38, 1.57] 9 | name: agent2 10 | goal: [19.65, 36.80, 2.14] 11 | - start: [27.34, 5.83, 2.22] 12 | name: agent3 13 | goal: [21.68, 20.87, -0.84] 14 | - start: [18.09, 13.95, 1.51] 15 | name: agent4 16 | goal: [20.90, 4.90, -2.14] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [48.04, 27.09, 0.80] 21 | - [34.25, 11.19, 0.80] 22 | - [22.13, 33.19, 0.80] 23 | - [4.05, 8.75, 0.80] 24 | - [41.57, 33.15, 0.80] 25 | - [41.66, 47.97, 0.80] 26 | - [45.85, 8.84, 0.80] 27 | - [31.98, 36.52, 0.80] 28 | - [9.17, 16.34, 0.80] 29 | - [28.46, 29.24, 0.80] 30 | - [5.39, 25.77, 0.80] 31 | - [14.43, 33.17, 0.80] 32 | - [24.90, 26.13, 0.80] 33 | - [47.83, 42.33, 0.80] 34 | - [33.73, 7.29, 0.80] 35 | - [44.27, 25.40, 0.80] 36 | - [48.98, 23.04, 0.80] 37 | - [12.10, 11.72, 0.80] 38 | - [23.25, 8.27, 0.80] 39 | - [42.82, 3.87, 0.80] 40 | - [45.22, 16.08, 0.80] 41 | - [15.29, 43.84, 0.80] 42 | - [10.02, 23.45, 0.80] 43 | - [21.22, 41.66, 0.80] 44 | - [26.98, 36.81, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex8.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [33.96, 23.79, -0.19] 3 | name: agent0 4 | goal: [29.26, 43.12, 2.71] 5 | - start: [36.74, 18.49, -0.52] 6 | name: agent1 7 | goal: [33.19, 3.11, -2.29] 8 | - start: [18.98, 3.43, -1.92] 9 | name: agent2 10 | goal: [25.86, 35.65, -0.98] 11 | - start: [17.41, 44.80, 1.93] 12 | name: agent3 13 | goal: [33.52, 31.56, 2.71] 14 | - start: [39.24, 24.89, -2.08] 15 | name: agent4 16 | goal: [26.86, 11.37, -1.85] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [13.04, 16.61, 0.80] 21 | - [43.72, 41.13, 0.80] 22 | - [30.17, 11.65, 0.80] 23 | - [40.40, 16.75, 0.80] 24 | - [3.30, 10.50, 0.80] 25 | - [15.12, 39.90, 0.80] 26 | - [16.93, 7.68, 0.80] 27 | - [28.98, 30.86, 0.80] 28 | - [19.66, 19.12, 0.80] 29 | - [2.07, 16.75, 0.80] 30 | - [39.93, 46.82, 0.80] 31 | - [16.10, 30.55, 0.80] 32 | - [37.02, 15.04, 0.80] 33 | - [1.85, 29.35, 0.80] 34 | - [32.93, 40.02, 0.80] 35 | - [38.77, 7.58, 0.80] 36 | - [7.70, 13.54, 0.80] 37 | - [5.07, 5.24, 0.80] 38 | - [2.12, 4.04, 0.80] 39 | - [9.17, 37.80, 0.80] 40 | - [16.78, 21.17, 0.80] 41 | - [22.55, 31.42, 0.80] 42 | - [21.30, 26.58, 0.80] 43 | - [28.65, 37.12, 0.80] 44 | - [14.11, 47.05, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/map50by50/agents5/obstacle/map_50by50_obst25_agents5_ex9.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [28.94, 12.06, -0.97] 3 | name: agent0 4 | goal: [35.66, 18.02, -1.50] 5 | - start: [23.86, 36.15, 2.98] 6 | name: agent1 7 | goal: [26.83, 19.10, -0.11] 8 | - start: [5.78, 9.41, 1.08] 9 | name: agent2 10 | goal: [10.60, 23.78, 0.13] 11 | - start: [37.38, 34.11, 1.26] 12 | name: agent3 13 | goal: [41.98, 35.81, 1.75] 14 | - start: [16.55, 30.47, 3.07] 15 | name: agent4 16 | goal: [42.52, 8.73, -0.52] 17 | map: 18 | dimensions: [50, 50] 19 | obstacles: 20 | - [4.96, 16.75, 0.80] 21 | - [18.61, 21.55, 0.80] 22 | - [19.48, 33.44, 0.80] 23 | - [42.29, 26.83, 0.80] 24 | - [43.81, 4.42, 0.80] 25 | - [45.59, 31.46, 0.80] 26 | - [29.59, 33.01, 0.80] 27 | - [32.43, 13.87, 0.80] 28 | - [2.42, 34.02, 0.80] 29 | - [36.02, 9.29, 0.80] 30 | - [8.87, 38.21, 0.80] 31 | - [42.45, 22.10, 0.80] 32 | - [47.76, 42.51, 0.80] 33 | - [26.08, 10.10, 0.80] 34 | - [49.03, 29.07, 0.80] 35 | - [48.26, 9.26, 0.80] 36 | - [29.20, 47.71, 0.80] 37 | - [14.15, 39.41, 0.80] 38 | - [7.41, 42.56, 0.80] 39 | - [36.86, 14.93, 0.80] 40 | - [16.23, 9.95, 0.80] 41 | - [32.78, 26.31, 0.80] 42 | - [4.86, 12.40, 0.80] 43 | - [26.01, 3.08, 0.80] 44 | - [41.86, 45.89, 0.80] 45 | -------------------------------------------------------------------------------- /benchmark/room/agents10/map_100by100_agents10_ex23.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [9.98, 4.88, -1.33] 3 | name: agent0 4 | goal: [75.23, 35.16, 3.11] 5 | - start: [59.99, 40.16, 2.19] 6 | name: agent1 7 | goal: [30.20, 24.87, -2.88] 8 | - start: [30.12, 80.10, 1.24] 9 | name: agent2 10 | goal: [64.80, 50.22, -1.18] 11 | - start: [79.78, 70.21, 2.47] 12 | name: agent3 13 | goal: [40.16, 30.19, 1.32] 14 | - start: [44.92, 69.83, -1.47] 15 | name: agent4 16 | goal: [70.14, 5.04, 2.68] 17 | - start: [70.11, 89.97, 0.30] 18 | name: agent5 19 | goal: [15.06, 45.23, 2.40] 20 | - start: [19.96, 20.21, -0.79] 21 | name: agent6 22 | goal: [79.89, 54.83, -1.99] 23 | - start: [85.22, 24.79, -2.64] 24 | name: agent7 25 | goal: [60.23, 19.82, 2.36] 26 | - start: [90.24, 45.06, 0.04] 27 | name: agent8 28 | goal: [84.88, 35.14, -2.23] 29 | - start: [39.76, 45.08, 0.08] 30 | name: agent9 31 | goal: [20.06, 34.85, -2.28] 32 | map: 33 | dimensions: [100, 100] 34 | obstacles: 35 | - [65.00, 15.00, 0.50] 36 | -------------------------------------------------------------------------------- /benchmark/room/agents10/map_100by100_agents10_ex38.yaml: -------------------------------------------------------------------------------- 1 | agents: 2 | - start: [50.08, 4.80, -2.41] 3 | name: agent0 4 | goal: [34.92, 55.25, 2.54] 5 | - start: [25.05, 79.90, -0.09] 6 | name: agent1 7 | goal: [74.88, 40.14, 1.26] 8 | - start: [64.87, 65.14, 2.71] 9 | name: agent2 10 | goal: [24.78, 60.16, 1.88] 11 | - start: [45.05, 29.84, -0.99] 12 | name: agent3 13 | goal: [49.77, 19.80, 2.73] 14 | - start: [35.13, 40.18, -1.04] 15 | name: agent4 16 | goal: [89.76, 40.12, 0.87] 17 | - start: [64.80, 19.91, 2.46] 18 | name: agent5 19 | goal: [75.16, 15.12, 3.00] 20 | - start: [44.80, 85.12, 0.39] 21 | name: agent6 22 | goal: [5.20, 55.11, -1.88] 23 | - start: [55.06, 60.21, -0.04] 24 | name: agent7 25 | goal: [19.95, 15.06, 0.24] 26 | - start: [54.92, 90.06, -1.83] 27 | name: agent8 28 | goal: [4.95, 15.05, 0.28] 29 | - start: [80.07, 84.95, 0.08] 30 | name: agent9 31 | goal: [70.03, 75.23, 1.59] 32 | map: 33 | dimensions: [100, 100] 34 | obstacles: 35 | - [15.00, 75.00, 0.50] 36 | -------------------------------------------------------------------------------- /config.yaml: -------------------------------------------------------------------------------- 1 | # config file for mvtp_benchmark 2 | 3 | # The minimum turning radius of the vehicle 4 | r: 3 5 | # r * deltat = step distance. 6 | deltat: 0.706 7 | # A movement cost penalty for turning (choosing non straight motion primitives) 8 | penaltyTurning: 1.5 9 | # A movement cost penalty for reversing (choosing motion primitives > 10 | # 2) 11 | penaltyReversing: 2.0 12 | # A movement cost penalty for change of direction (changing from primitives < 3 to primitives > 2) 13 | penaltyCOD: 2.0 14 | # map resolution 15 | mapResolution: 2.0 16 | maxClosedSetSize: 1e5 17 | 18 | # width of car 19 | carWidth: 2.0 20 | # distance from rear to vehicle front end 21 | LF: 2.0 22 | # distance from rear to vehicle back end 23 | LB: 1.0 24 | WB: 1.0 # wheel base 25 | # obstacle default radius 26 | obsRadius: 0.8 27 | # least time to wait for constraint 28 | constraintWaitTime: 2 29 | 30 | 31 | 32 | # optimizer parameters. 33 | w_cfg : 1 34 | w_kine: 10 35 | w_bicycle: 10.0 36 | w_corridor : 1.0 37 | w_dynamic : 1 38 | 39 | w_x : 0.01 40 | w_y : 0.01 41 | w_dv : 10 42 | w_dsteer: 10 43 | w_domega: 1000.0 44 | max_omega: 0.07 45 | # the maximum speed and decelerate factor decide the dt 46 | max_v: 1 47 | decelerate_factor: 0.8 48 | fixed_corridor: false 49 | 50 | max_iter: 10 51 | delta_solution_threshold: 1 52 | max_violation: 0.001 53 | # osqp solver max iterations. 54 | osqp_max_iter: 400 55 | 56 | r_trust: 2.0 # R_{trust}. trust region radius. 57 | # number of points to interpolation. 58 | num_interpolation: 2 -------------------------------------------------------------------------------- /hybrid_a_star/Instance.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | // #include"pbs/common.h" 3 | #include "common/motion_planning.h" 4 | #include "hybrid_a_star/types.h" 5 | 6 | class Instance 7 | { 8 | public: 9 | Instance(){} 10 | Instance( 11 | const std::string& instance_fname, int num_of_agents = -1, 12 | int num_of_obstacles = -1); 13 | 14 | void printAgents() const; 15 | 16 | int getDefaultNumberOfAgents() const { return num_of_agents; } 17 | bool startAndGoalValid( 18 | const std::vector &starts, const std::vector& goals) ; 19 | 20 | 21 | std::string instance_fname; 22 | 23 | int num_of_agents; 24 | int num_of_obstacles; 25 | 26 | 27 | size_t dimx; 28 | size_t dimy; 29 | std::unordered_set obstacles; 30 | std::vector start_states; 31 | std::vector goal_states; 32 | 33 | private: 34 | 35 | bool loadMap(); 36 | // Class SingleAgentSolver can access private members of Node 37 | friend class SingleAgentSolver; 38 | }; 39 | 40 | -------------------------------------------------------------------------------- /hybrid_a_star/hybrid_astar_interface.cc: -------------------------------------------------------------------------------- 1 | #include "hybrid_a_star/hybrid_astar_interface.h" 2 | 3 | HybriAStarInterface::HybriAStarInterface( 4 | const Instance& instance, int agent_id 5 | ) : SingleAgentSolver(instance), 6 | env(instance.dimx, instance.dimy, instance.obstacles, dynamic_obstacles, instance.goal_states, agent_id), 7 | hybridAStar(env) 8 | { 9 | 10 | }; 11 | 12 | Path HybriAStarInterface::findOptimalPath(const std::set& higher_agents, const std::vector& paths, int agent){ 13 | Path m_solution; 14 | dynamic_obstacles.clear(); 15 | // TODO 两次插入，改为一次 16 | // insert the higher agents' path as dynamic obstacles 17 | for ( const int & a : higher_agents){ 18 | for ( auto state : paths[a]->states){ 19 | dynamic_obstacles.insert( 20 | std::pair( 21 | state.first.time, 22 | State(state.first.x, state.first.y, state.first.yaw, state.first.time)) 23 | ); 24 | } 25 | State last_state = paths[a]->states.back().first; 26 | dynamic_obstacles.insert( 27 | std::pair( 28 | -last_state.time, 29 | State(last_state.x, last_state.y, last_state.yaw, last_state.time)) 30 | ); 31 | 32 | } 33 | 34 | hybridAStar.resetDynamicObstacles( higher_agents, paths); 35 | hybridAStar.search(instance.start_states[agent], m_solution); 36 | 37 | return m_solution; 38 | } 39 | -------------------------------------------------------------------------------- /hybrid_a_star/hybrid_astar_interface.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "hybrid_a_star/types.h" 4 | #include "pbs/SingleAgentSolver.h" 5 | 6 | // lowlevel planner for the PBS. need to replan. 7 | class HybriAStarInterface: public SingleAgentSolver 8 | { 9 | public: 10 | HybriAStarInterface( 11 | const Instance& instance, int agent_id 12 | ) ; 13 | 14 | Path findOptimalPath(const std::set& higher_agents, const std::vector& paths, int agent) override; 15 | std::string getName() const override { return "hybrid_a_star";}; 16 | 17 | 18 | private: 19 | std::multimap dynamic_obstacles; 20 | 21 | Environment_t env; 22 | HybridAStarPlanner hybridAStar; 23 | 24 | }; 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /hybrid_a_star/neighbor.h: -------------------------------------------------------------------------------- 1 | /** 2 | * @file neighbor.hpp 3 | * @author Licheng Wen (wenlc@zju.edu.cn) 4 | * @brief Neighbor header 5 | * @date 2020-11-12 6 | * 7 | * @copyright Copyright (c) 2020 8 | * 9 | */ 10 | #pragma once 11 | 12 | namespace libMultiRobotPlanning { 13 | 14 | /*! \brief Represents state transations 15 | 16 | This class represents a transition from a start state applying an action 17 | with the given cost. 18 | 19 | \tparam State Custom state for the search. Needs to be copy'able 20 | \tparam Action Custom action for the search. Needs to be copy'able 21 | \tparam Cost Custom Cost type (integer or floating point types) 22 | */ 23 | template 24 | struct Neighbor { 25 | Neighbor(const State& state, const Action& action, Cost cost) 26 | : state(state), action(action), cost(cost) {} 27 | 28 | //! neighboring state 29 | State state; 30 | //! action to get to the neighboring state 31 | Action action; 32 | //! cost to get to the neighboring state 33 | Cost cost; 34 | }; 35 | 36 | } // namespace libMultiRobotPlanning 37 | -------------------------------------------------------------------------------- /hybrid_a_star/timer.h: -------------------------------------------------------------------------------- 1 | /** 2 | * @file timer.hpp 3 | * @author Licheng Wen (wenlc@zju.edu.cn) 4 | * @brief Timer class 5 | * @date 2020-11-12 6 | * 7 | * @copyright Copyright (c) 2020 8 | * 9 | */ 10 | #pragma once 11 | 12 | #include 13 | #include 14 | /** 15 | * @brief class for counting time (microsecond) 16 | * 17 | */ 18 | class Timer { 19 | public: 20 | Timer() 21 | : start_(std::chrono::high_resolution_clock::now()), 22 | end_(std::chrono::high_resolution_clock::now()) {} 23 | 24 | void reset() { start_ = std::chrono::high_resolution_clock::now(); } 25 | 26 | void stop() { end_ = std::chrono::high_resolution_clock::now(); } 27 | 28 | double elapsedSeconds() const { 29 | auto timeSpan = std::chrono::duration_cast>( 30 | end_ - start_); 31 | return timeSpan.count(); 32 | } 33 | 34 | private: 35 | std::chrono::high_resolution_clock::time_point start_; 36 | std::chrono::high_resolution_clock::time_point end_; 37 | }; 38 | -------------------------------------------------------------------------------- /hybrid_a_star/types.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #include "hybrid_a_star/environment.h" 3 | #include "hybrid_a_star/planresult.h" 4 | #include "hybrid_a_star/hybrid_astar.h" 5 | #include "common/motion_planning.h" 6 | 7 | using libMultiRobotPlanning::Neighbor; 8 | using libMultiRobotPlanning::PlanResult; 9 | using libMultiRobotPlanning::Environment; 10 | 11 | // Instantiate all template classes 12 | 13 | using Environment_t = libMultiRobotPlanning::Environment; 14 | using Path = libMultiRobotPlanning::PlanResult; 15 | using HybridAStarPlanner = libMultiRobotPlanning::HybridAStar ; -------------------------------------------------------------------------------- /pbs/Conflict.cc: -------------------------------------------------------------------------------- 1 | #include "pbs/Conflict.h" 2 | 3 | std::ostream& operator<<(std::ostream& os, const Constraint& constraint) 4 | { 5 | os << "<" << constraint.low << " is lower than " << constraint.high << ">"; 6 | return os; 7 | } 8 | 9 | 10 | std::ostream& operator<<(std::ostream& os, const Conflict& conflict) 11 | { 12 | os << "<" << conflict.a1 << "," << conflict.a2 << ">"; 13 | return os; 14 | } 15 | 16 | bool operator < (const Conflict& conflict1, const Conflict& conflict2) // return true if conflict2 has higher priority 17 | { 18 | return rand() % 2; 19 | } 20 | 21 | -------------------------------------------------------------------------------- /pbs/Conflict.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #include "pbs/common.h" 3 | 4 | enum conflict_selection {RANDOM, EARLIEST, CONFLICTS, MCONSTRAINTS, FCONSTRAINTS, WIDTH, SINGLETONS}; 5 | 6 | struct Constraint 7 | { 8 | int low = -1; 9 | int high = -1; 10 | void set(int _low, int _high) 11 | { 12 | low = _low; 13 | high = _high; 14 | } 15 | }; 16 | 17 | std::ostream& operator<<(std::ostream& os, const Constraint& constraint); 18 | 19 | 20 | struct Conflict 21 | { 22 | int a1; 23 | int a2; 24 | explicit Conflict(int a1 = -1, int a2 = -1): a1(a1), a2(a2) { } 25 | }; 26 | 27 | std::ostream& operator<<(std::ostream& os, const Conflict& conflict); 28 | 29 | bool operator < (const Conflict& conflict1, const Conflict& conflict2); 30 | -------------------------------------------------------------------------------- /pbs/PBSNode.cc: -------------------------------------------------------------------------------- 1 | #include "pbs/PBSNode.h" 2 | 3 | 4 | void PBSNode::clear() 5 | { 6 | conflicts.clear(); 7 | } 8 | 9 | void PBSNode::printConstraints(int id) const 10 | { 11 | auto curr = this; 12 | while (curr->parent != nullptr) 13 | { 14 | cout << curr->constraint.high << ">" << curr->constraint.low << endl; 15 | curr = curr->parent; 16 | } 17 | } 18 | 19 | std::ostream& operator<<(std::ostream& os, const PBSNode& node) 20 | { 21 | os << "Node " << node.time_generated << " ( cost = " << node.cost << ", conflicts = " << node.conflicts.size() << 22 | " ) with " << node.getNumNewPaths() << " new paths "; 23 | return os; 24 | } -------------------------------------------------------------------------------- /pbs/common.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | #include 11 | #include // std::cout, std::fixed 12 | #include // std::setprecision 13 | #include 14 | #include 15 | #include 16 | 17 | using boost::heap::pairing_heap; 18 | using boost::heap::compare; 19 | using boost::unordered_map; 20 | using boost::unordered_set; 21 | using std::vector; 22 | using std::array; 23 | using std::list; 24 | using std::set; 25 | using std::map; 26 | using std::get; 27 | using std::tuple; 28 | using std::make_tuple; 29 | using std::pair; 30 | using std::make_pair; 31 | using std::tie; 32 | using std::min; 33 | using std::max; 34 | using std::shared_ptr; 35 | using std::make_shared; 36 | using std::clock; 37 | using std::cout; 38 | using std::endl; 39 | using std::ofstream; 40 | using std::cerr; 41 | using std::string; 42 | using std::stack; 43 | 44 | 45 | #define MAX_TIMESTEP INT_MAX / 2 46 | #define MAX_COST INT_MAX / 2 47 | #define MAX_NODES INT_MAX / 2 48 | 49 | -------------------------------------------------------------------------------- /sqp/common.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include // std::cout, std::fixed 5 | 6 | using std::vector; 7 | using std::cout; 8 | using std::endl; 9 | 10 | 11 | 12 | namespace libMultiRobotPlanning { 13 | 14 | struct OptimizeResult{ 15 | double x; 16 | double y; 17 | double yaw; 18 | double v; 19 | double a; 20 | double steer; 21 | double d_steer; 22 | }; 23 | 24 | 25 | struct SolutionStatistics{ 26 | double cost = -1; 27 | double makespan = -1; // makespan record the value before optimization. 28 | double flowtime = -1; 29 | double runtime = -1; // total runtime. rt_search + rt_optimization 30 | double rt_search = -1; // runtime of front end searching 31 | double rt_preprocess = -1; // runtime of preprocessing 32 | double rt_optimization = -1; // runtime of total optimization 33 | double rt_max_optimization = -1; // runtime while fully decentralized time 34 | int search_status = 2; // 0: failed; 1: minor collision; 2: success. 35 | int solver_status = 0; // 0: failed; 1: success; 36 | }; 37 | 38 | // parmameters of DSQP 39 | struct QpParm{ 40 | double r_trust; 41 | double max_omega; 42 | double max_v; 43 | double max_iter; 44 | double delta_solution_threshold; 45 | double max_violation; 46 | 47 | int osqp_max_iter; 48 | 49 | double dt; 50 | int num_interpolation; 51 | bool fixed_corridor; 52 | }; 53 | 54 | } -------------------------------------------------------------------------------- /util/file_utils.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "common/motion_planning.h" 4 | #include "hybrid_a_star/planresult.h" 5 | 6 | void dumpPlanResults( 7 | std::string fname_output, 8 | const std::vector>& solution, 9 | double runtime 10 | ); 11 | 12 | bool loadScenario( 13 | std::string inputFile, size_t& dimx, size_t& dimy, std::unordered_set& obstacles, 14 | std::vector& startStates, std::vector& goalStates, bool cbs_scenario 15 | ); 16 | -------------------------------------------------------------------------------- /util/string_utils.h: -------------------------------------------------------------------------------- 1 | // 2 | // Created by yenkn on 2021/2/2. 3 | // 4 | #pragma once 5 | #include 6 | 7 | namespace common { 8 | 9 | template 10 | void StrCat(std::stringstream &ss, T value) 11 | { 12 | ss << value; 13 | } 14 | 15 | template 16 | void StrCat(std::stringstream &ss, T value, Args... args) 17 | { 18 | ss << value; 19 | StrCat(ss, args...); 20 | } 21 | 22 | template 23 | std::string StrCat(Args... args) 24 | { 25 | std::stringstream ss; 26 | StrCat(ss, args...); 27 | return ss.str(); 28 | } 29 | 30 | } --------------------------------------------------------------------------------