# Multi-agent interaction planning

Multi-agent interaction planning code for RA-L submission ID: **tbd**

# Multi-Agent Interaction Planning Code

## Description

Contains two implemented algorithms to achieve multi-agent intermittent interaction planning. In the [IIP](./IIP) directory is the novel algorithm proposed in a recent RA-L submission (submission ID: `tbd`). While in the [HS](./HS) directory is a method from [a related work][hollinger2010] ([later extended][hollinger2012]).

## Table of Contents

1. [Usage](#usage)
2. [Contributing](#contributing)
3. [Acknowledgments](#acknowledgments)
4. [License](#license)

## Usage

### Basic Usage

To run IIP with randomized initial conditions, run [multi_agent_path_planning.m](./IIP/multi_agent_path_planning.m) in MATLAB. Similarly for HS, run [main.m](.HS/main.m) in MATLAB. Depending on your directory structures you may need to edit `main.m` to change the path. Also either method may return `-1` for all outputs if there is no feasible path for all agents, which can happen when obstacles are being randomly generated as in this case.

### Monte Carlo Collection/Running

To run a monte carlo simulation comparing IIP with HS on the same set of scenarios, using all available cores in the processor, run [monteCarloParallel.m](./IIP/monteCarloParallel.m). If parallel execution is not required, [monteCarloRunner.m](./IIP/monteCarloRunner.m) can be run instead. To visualize the collected data, run [monteCarloPlotter.m](./IIP/monteCarloPlotter.m). You will have to update the `filenames` list to include the newly collected data, which is automatically generated with a time stamped file name.

## Contributing

This repository is for research code only, and updates or contributions are not being considered at this time.

## Acknowledgments 

Thanks to Dr. Ryan K. Williams for guidance during this project, and to the authors of our [comparison work][hollinger2010] for inspiration.

## License

This work is as yet unlicensed.

[hollinger2012]: https://ieeexplore.ieee.org/abstract/document/6177277
[hollinger2010]: https://ieeexplore.ieee.org/abstract/document/5509175