Merge pull request #21 from sisl/develop

Merged develop with main. Integrating changes from Kyle and work already accomplished in master.

Project.toml

@@ -1,47 +1,44 @@
 name = "TaskGraphs"
 uuid = "6635cb54-791c-11e9-2805-8512ad3937f9"
-authors = ["kylebrown <[email protected]>"]
-version = "0.1.0"
+authors = ["kylebrown <[email protected]> and collaborators"]
+version = "0.2.0"
 
 [deps]
+Arpack_jll = "68821587-b530-5797-8361-c406ea357684"
 CRCBS = "edef75b8-3ac4-11e9-0392-bf149c536ee3"
 Compose = "a81c6b42-2e10-5240-aca2-a61377ecd94b"
 DataFrames = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0"
 DataStructures = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"
 FileIO = "5789e2e9-d7fb-5bc7-8068-2c6fae9b9549"
 GLPK = "60bf3e95-4087-53dc-ae20-288a0d20c6a6"
 GraphUtils = "5d4bc1c0-0fb7-11e9-3252-b1aa07358cab"
+Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
 ImageFiltering = "6a3955dd-da59-5b1f-98d4-e7296123deb5"
+JLLWrappers = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210"
 JuMP = "4076af6c-e467-56ae-b986-b466b2749572"
-Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Logging = "56ddb016-857b-54e1-b83d-db4d58db5568"
 MathOptInterface = "b8f27783-ece8-5eb3-8dc8-9495eed66fee"
+NBInclude = "0db19996-df87-5ea3-a455-e3a50d440464"
 Parameters = "d96e819e-fc66-5662-9728-84c9c7592b0a"
+Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 SimpleTraits = "699a6c99-e7fa-54fc-8d76-47d257e15c1d"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 TOML = "fa267f1f-6049-4f14-aa54-33bafae1ed76"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
-Arpack_jll = "68821587-b530-5797-8361-c406ea357684"
-JLLWrappers = "692b3bcd-3c85-4b1f-b108-f13ce0eb3210"
-NBInclude = "0db19996-df87-5ea3-a455-e3a50d440464"
-Plots= "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
-
 
 [compat]
-CRCBS = "0.1"
 Compose = "0.9"
-DataFrames= "1.4"
+DataFrames = "1.4"
 GLPK = "1.1"
-GraphUtils= "0.1"
-ImageFiltering="0.7"
-JuMP="1.0"
-Graphs="1.7"
-MathOptInterface= "1.8"
-Parameters= "0.12"
-Random= "1.5"
-julia = "1"
+Graphs = "1.7"
+ImageFiltering = "0.7"
 JLLWrappers = "1.2.0"
+JuMP = "1.0"
+MathOptInterface = "1.8"
+Parameters = "0.12"
+Random = "1.5"
+julia = "1"

case_tables/varying_beta/large_projects_avg_makespan_composite.tex

@@ -0,0 +1,6 @@
+\begin{tabular}{l  | l l l l l  | l l l l l  | l l l l l }
+& \multicolumn{5}{c}{$M=30$} & \multicolumn{5}{c}{$M=25$} & \multicolumn{5}{c}{$M=20$} \\
+$arrival_interval=40$ & 160.0 & 134.0 & \textbf{133.0} & 135.0 & 133.0 &  &  &  &  &  &  &  &  &  &  \\
+$arrival_interval=30$ & 303.0 & \textbf{165.0} & 182.0 & 182.0 & 211.0 & 144.0 & 138.0 & 135.0 & \textbf{130.0} & 138.0 &  &  &  &  &  \\
+$arrival_interval=20$ & 461.0 & 303.0 & \textbf{257.0} & 265.0 & 361.0 & 270.0 & 204.0 & \textbf{181.0} & 210.0 & 265.0 & 146.0 & \textbf{131.0} & 134.0 & 135.0 & 189.0
+\end{tabular}

case_tables/varying_beta/large_projects_avg_makespan_flat_composite.tex

@@ -0,0 +1,12 @@
+\begin{tabular}{l  | l l l l l }
+& \multicolumn{5}{c}{} \\
+$M=30$,$arrival_interval=40$ & 160.0 & 134.0 & \textbf{133.0} & 135.0 & 133.0 \\
+$M=30$,$arrival_interval=30$ & 303.0 & \textbf{165.0} & 182.0 & 182.0 & 211.0 \\
+$M=30$,$arrival_interval=20$ & 461.0 & 303.0 & \textbf{257.0} & 265.0 & 361.0 \\
+$M=25$,$arrival_interval=40$ &  &  &  &  &  \\
+$M=25$,$arrival_interval=30$ & 144.0 & 138.0 & 135.0 & \textbf{130.0} & 138.0 \\
+$M=25$,$arrival_interval=20$ & 270.0 & 204.0 & \textbf{181.0} & 210.0 & 265.0 \\
+$M=20$,$arrival_interval=40$ &  &  &  &  &  \\
+$M=20$,$arrival_interval=30$ &  &  &  &  &  \\
+$M=20$,$arrival_interval=20$ & 146.0 & \textbf{131.0} & 134.0 & 135.0 & 189.0
+\end{tabular}

case_tables/varying_beta/large_projects_avg_makespan_reduced.tex

@@ -0,0 +1,6 @@
+\begin{tabular}{l  | l  | l  | l }
+& \multicolumn{1}{c}{$M=30$} & \multicolumn{1}{c}{$M=25$} & \multicolumn{1}{c}{$M=20$} \\
+$arrival_interval=40$ & 0.83 &  &  \\
+$arrival_interval=30$ & 0.54 & 0.9 &  \\
+$arrival_interval=20$ & 0.56 & 0.67 & 0.9
+\end{tabular}

case_tables/varying_beta/large_projects_backlog_factor_composite.tex

@@ -0,0 +1,6 @@
+\begin{tabular}{l  | l l l l l  | l l l l l  | l l l l l }
+& \multicolumn{5}{c}{$M=30$} & \multicolumn{5}{c}{$M=25$} & \multicolumn{5}{c}{$M=20$} \\
+$arrival_interval=40$ & 1.08 & 1.03 & \textbf{1.03} & 1.05 & 1.03 &  &  &  &  &  &  &  &  &  &  \\
+$arrival_interval=30$ & 1.39 & \textbf{1.11} & 1.27 & 1.19 & 1.2 & 1.07 & 1.07 & 1.08 & \textbf{1.03} & 1.05 &  &  &  &  &  \\
+$arrival_interval=20$ & 1.94 & 1.5 & 1.39 & \textbf{1.36} & 1.65 & 1.45 & 1.25 & \textbf{1.17} & 1.3 & 1.44 & 1.15 & \textbf{1.09} & 1.14 & 1.15 & 1.28
+\end{tabular}

case_tables/varying_beta/large_projects_backlog_factor_flat_composite.tex

@@ -0,0 +1,12 @@
+\begin{tabular}{l  | l l l l l }
+& \multicolumn{5}{c}{} \\
+$M=30$,$arrival_interval=40$ & 1.08 & 1.03 & \textbf{1.03} & 1.05 & 1.03 \\
+$M=30$,$arrival_interval=30$ & 1.39 & \textbf{1.11} & 1.27 & 1.19 & 1.2 \\
+$M=30$,$arrival_interval=20$ & 1.94 & 1.5 & 1.39 & \textbf{1.36} & 1.65 \\
+$M=25$,$arrival_interval=40$ &  &  &  &  &  \\
+$M=25$,$arrival_interval=30$ & 1.07 & 1.07 & 1.08 & \textbf{1.03} & 1.05 \\
+$M=25$,$arrival_interval=20$ & 1.45 & 1.25 & \textbf{1.17} & 1.3 & 1.44 \\
+$M=20$,$arrival_interval=40$ &  &  &  &  &  \\
+$M=20$,$arrival_interval=30$ &  &  &  &  &  \\
+$M=20$,$arrival_interval=20$ & 1.15 & \textbf{1.09} & 1.14 & 1.15 & 1.28
+\end{tabular}

case_tables/varying_beta/large_projects_backlog_factor_reduced.tex

@@ -0,0 +1,6 @@
+\begin{tabular}{l  | l  | l  | l }
+& \multicolumn{1}{c}{$M=30$} & \multicolumn{1}{c}{$M=25$} & \multicolumn{1}{c}{$M=20$} \\
+$arrival_interval=40$ & 0.96 &  &  \\
+$arrival_interval=30$ & 0.8 & 0.97 &  \\
+$arrival_interval=20$ & 0.7 & 0.81 & 0.95
+\end{tabular}

case_tables/varying_beta/large_projects_fallback_rate_composite.tex

@@ -0,0 +1,6 @@
+\begin{tabular}{l  | l l l l l  | l l l l l  | l l l l l }
+& \multicolumn{5}{c}{$M=30$} & \multicolumn{5}{c}{$M=25$} & \multicolumn{5}{c}{$M=20$} \\
+$arrival_interval=40$ & \textbf{0.0} & 0.0 & \textbf{0.0} & 0.01 & \textbf{0.0} &  &  &  &  &  &  &  &  &  &  \\
+$arrival_interval=30$ & \textbf{0.0} & \textbf{0.0} & 0.03 & 0.09 & \textbf{0.0} & \textbf{0.0} & 0.0 & 0.01 & \textbf{0.0} & \textbf{0.0} &  &  &  &  &  \\
+$arrival_interval=20$ & \textbf{0.0} & \textbf{0.0} & 0.0 & 0.05 & 0.0 & \textbf{0.0} & 0.0 & 0.01 & 0.1 & 0.0 & \textbf{0.0} & 0.0 & 0.02 & 0.02 & 0.01
+\end{tabular}

case_tables/varying_beta/large_projects_fallback_rate_flat_composite.tex

@@ -0,0 +1,12 @@
+\begin{tabular}{l  | l l l l l }
+& \multicolumn{5}{c}{} \\
+$M=30$,$arrival_interval=40$ & \textbf{0.0} & 0.0 & \textbf{0.0} & 0.01 & \textbf{0.0} \\
+$M=30$,$arrival_interval=30$ & \textbf{0.0} & \textbf{0.0} & 0.03 & 0.09 & \textbf{0.0} \\
+$M=30$,$arrival_interval=20$ & \textbf{0.0} & \textbf{0.0} & 0.0 & 0.05 & 0.0 \\
+$M=25$,$arrival_interval=40$ &  &  &  &  &  \\
+$M=25$,$arrival_interval=30$ & \textbf{0.0} & 0.0 & 0.01 & \textbf{0.0} & \textbf{0.0} \\
+$M=25$,$arrival_interval=20$ & \textbf{0.0} & 0.0 & 0.01 & 0.1 & 0.0 \\
+$M=20$,$arrival_interval=40$ &  &  &  &  &  \\
+$M=20$,$arrival_interval=30$ &  &  &  &  &  \\
+$M=20$,$arrival_interval=20$ & \textbf{0.0} & 0.0 & 0.02 & 0.02 & 0.01
+\end{tabular}

case_tables/varying_beta/large_projects_fallback_rate_reduced.tex

@@ -0,0 +1,6 @@
+\begin{tabular}{l  | l  | l  | l }
+& \multicolumn{1}{c}{$M=30$} & \multicolumn{1}{c}{$M=25$} & \multicolumn{1}{c}{$M=20$} \\
+$arrival_interval=40$ & 0.0 &  &  \\
+$arrival_interval=30$ & 0.0 & 0.0 &  \\
+$arrival_interval=20$ & 0.0 & 0.0 & 0.0
+\end{tabular}

case_tables/varying_beta/large_projects_tasks_per_minute_composite.tex

@@ -0,0 +1,6 @@
+\begin{tabular}{l  | l l l l l  | l l l l l  | l l l l l }
+& \multicolumn{5}{c}{$M=30$} & \multicolumn{5}{c}{$M=25$} & \multicolumn{5}{c}{$M=20$} \\
+$arrival_interval=40$ & 38.9 & 40.4 & \textbf{40.6} & 39.9 & 40.6 &  &  &  &  &  &  &  &  &  &  \\
+$arrival_interval=30$ & 38.9 & \textbf{48.8} & 43.9 & 45.6 & 45.0 & 42.8 & 43.0 & 42.5 & \textbf{44.1} & 43.4 &  &  &  &  &  \\
+$arrival_interval=20$ & 39.1 & 50.4 & 54.6 & \textbf{55.7} & 45.9 & 44.1 & 50.9 & \textbf{54.4} & 49.6 & 44.3 & 45.7 & \textbf{48.2} & 46.5 & 46.2 & 41.4
+\end{tabular}

case_tables/varying_beta/large_projects_tasks_per_minute_flat_composite.tex

@@ -0,0 +1,12 @@
+\begin{tabular}{l  | l l l l l }
+& \multicolumn{5}{c}{} \\
+$M=30$,$arrival_interval=40$ & 38.9 & 40.4 & \textbf{40.6} & 39.9 & 40.6 \\
+$M=30$,$arrival_interval=30$ & 38.9 & \textbf{48.8} & 43.9 & 45.6 & 45.0 \\
+$M=30$,$arrival_interval=20$ & 39.1 & 50.4 & 54.6 & \textbf{55.7} & 45.9 \\
+$M=25$,$arrival_interval=40$ &  &  &  &  &  \\
+$M=25$,$arrival_interval=30$ & 42.8 & 43.0 & 42.5 & \textbf{44.1} & 43.4 \\
+$M=25$,$arrival_interval=20$ & 44.1 & 50.9 & \textbf{54.4} & 49.6 & 44.3 \\
+$M=20$,$arrival_interval=40$ &  &  &  &  &  \\
+$M=20$,$arrival_interval=30$ &  &  &  &  &  \\
+$M=20$,$arrival_interval=20$ & 45.7 & \textbf{48.2} & 46.5 & 46.2 & 41.4
+\end{tabular}

case_tables/varying_beta/large_projects_tasks_per_minute_reduced.tex

@@ -0,0 +1,6 @@
+\begin{tabular}{l  | l  | l  | l }
+& \multicolumn{1}{c}{$M=30$} & \multicolumn{1}{c}{$M=25$} & \multicolumn{1}{c}{$M=20$} \\
+$arrival_interval=40$ & 0.96 &  &  \\
+$arrival_interval=30$ & 0.8 & 0.97 &  \\
+$arrival_interval=20$ & 0.7 & 0.81 & 0.95
+\end{tabular}

src/TaskGraphs.jl

@@ -35,7 +35,7 @@ include("utils.jl")
 include("task_assignment_solvers.jl")
 include("path_planning.jl")
 include("pc_tapf_solvers.jl")
-include("milp_formulation.jl")
+include("edge_milp_formulation.jl")
 include("disturbances.jl")
 include("path_planners/pibt_planner.jl")
 include("replanning.jl")

src/disturbances.jl

@@ -108,42 +108,38 @@ end
 
 export handle_disturbance!
 
-function remove_vtxs(sched,remove_set::Set{A}) where {A<:AbstractID}
-    remove_vtxs(sched,Set{Int}(get_vtx(sched,id) for id in remove_set))
-end
+# function remove_vtxs(sched,remove_set::Set{A}) where {A<:AbstractID}
+#     remove_vtxs(sched,Set{Int}(get_vtx(sched,id) for id in remove_set))
+# end
 function remove_vtxs!(sched,remove_set)
     new_sched = sched
     rem_nodes!(new_sched,remove_set)
     set_leaf_operation_vtxs!(new_sched)
     process_schedule!(new_sched)
     new_sched
 end
-function remove_vtxs(sched,remove_set)
-    # Construct new graph
-    # new_sched = sched
-    # rem_nodes!(new_sched,remove_set)
-    # set_leaf_operation_vtxs!(new_sched)
-    # process_schedule!(new_sched)
-
-    new_sched = OperatingSchedule()
-    keep_vtxs = setdiff(Set{Int}(collect(vertices(sched))), remove_set)
-    # add all non-deleted nodes to new project schedule
-    for v in keep_vtxs
-        # node_id = get_vtx_id(sched,v)
-        # node = get_node_from_id(sched, node_id)
-        # path_spec = get_path_spec(sched,v)
-        # add_to_schedule!(new_sched,path_spec,node,node_id)
-        add_to_schedule!(new_sched,get_node(sched,v))
-    end
-    # add all edges between nodes that still exist
-    for e in edges(get_graph(sched))
-        add_edge!(new_sched, get_vtx_id(sched, e.src), get_vtx_id(sched, e.dst))
-    end
-    set_leaf_operation_vtxs!(new_sched)
-    process_schedule!(new_sched)
-    # @assert sanity_check(new_sched)
-    new_sched
-end
+# function remove_vtxs(sched,remove_set)
+#     # Construct new graph
+#     # new_sched = sched
+#     # rem_nodes!(new_sched,remove_set)
+#     # set_leaf_operation_vtxs!(new_sched)
+#     # process_schedule!(new_sched)
+
+#     new_sched = OperatingSchedule()
+#     keep_vtxs = setdiff(Set{Int}(collect(vertices(sched))), remove_set)
+#     # add all non-deleted nodes to new project schedule
+#     for v in keep_vtxs
+#         add_node!(new_sched,get_node(sched,v))
+#     end
+#     # add all edges between nodes that still exist
+#     for e in edges(get_graph(sched))
+#         add_edge!(new_sched, get_vtx_id(sched, e.src), get_vtx_id(sched, e.dst))
+#     end
+#     set_leaf_operation_vtxs!(new_sched)
+#     process_schedule!(new_sched)
+#     # @assert sanity_check(new_sched)
+#     new_sched
+# end
 
 """
     get_delivery_task_vtxs(sched::OperatingSchedule,o::ObjectID)
@@ -243,22 +239,21 @@ function handle_disturbance!(solver,prob,env::SearchEnv,d::DroppedObject,t,
     # Add GO->GO edges for affected robot(s), as if they were never assigned
     stitch_disjoint_node_sets!(sched,incoming,outgoing,env_state)
     # remove old nodes
-    new_sched = remove_vtxs(sched,vtxs)
-    # new_sched = remove_vtxs!(sched,vtxs)
+    remove_vtxs!(sched,vtxs)
     # add new CleanUpBot task nodes
     x = get_location_ids(object_position(env_state,o))
-    replace_in_schedule!(new_sched,OBJECT_AT(o,x),o)
-    set_t0!(new_sched,o,t)
+    replace_in_schedule!(sched,OBJECT_AT(o,x),o)
+    set_t0!(sched,o,t)
     add_headless_delivery_task!(
-        new_sched,get_problem_spec(env,:CleanUpBot),o,op.id,CleanUpBot;
+        sched,get_problem_spec(env,:CleanUpBot),o,op.id,CleanUpBot;
         t0=t
     )
-    process_schedule!(new_sched)
+    process_schedule!(sched)
     construct_search_env(
         solver,
-        new_sched,
+        sched,
         env,
-        initialize_planning_cache(new_sched)
+        initialize_planning_cache(sched)
     )
 end
 
@@ -299,12 +294,12 @@ function add_headless_cleanup_task!(
         )
 
     robot_id = CleanUpBotID(-1)
-    action_id = get_unique_action_id()
+    action_id = get_unique_id(ActionID)
     add_to_sched!(sched, spec, CLEAN_UP(robot_id, d.vtxs), action_id)
     set_t0!(sched,action_id,t0)
 
     prev_action_id = action_id
-    action_id = get_unique_action_id()
+    action_id = get_unique_id(ActionID)
     add_to_sched!(sched, spec, CUB_GO(robot_id, d.vtxs[1], return_vtx), action_id)
     set_t0!(sched,action_id,t0)
     add_edge!(sched, prev_action_id, action_id)
@@ -319,25 +314,31 @@ function remove_robot!(env::SearchEnv,id::BotID,t::Int)
     to_remove = Set{AbstractID}(id)
     v = get_vtx(sched,id)
     for vp in edges(bfs_tree(G,v))
-        node_id = get_vtx_id(sched,vp)
-        if isa(node_id,ActionID)
-            node = get_node_from_id(sched,node_id)
-            if isa(node,BOT_GO)
-                push!(to_remove,node_id)
+        node = get_node(sched,vp)
+        # n_id = get_vtx_id(sched,vp)
+        # if isa(n_id,ActionID)
+        if matches_template(AbstractRobotAction,node)
+            # node = get_node_from_id(sched,n_id)
+            # if isa(node,BOT_GO)
+            if matches_template(BOT_GO,node)
+                # push!(to_remove,n_id)
+                push!(to_remove,node_id(node))
             else
-                new_node = replace_robot_id(node,-1)
-                replace_in_schedule!(sched,get_problem_spec(env),new_node,node_id)
+                # new_node = replace_robot_id(node,-1)
+                replace_in_schedule!(sched,get_problem_spec(env),new_node,n_id)
+                new_node = replace_robot_id(node.node,-1)
+                replace_in_schedule!(sched,get_problem_spec(env),new_node,node_id(node))
             end
         end
     end
-    for node_id in to_remove
-        delete_node!(sched,node_id)
+    for n_id in to_remove
+        delete_node!(sched,n_id)
     end
     # Verify that the robot is no longer in schedule
     for v in vertices(G)
-        node_id = get_vtx_id(sched,v)
-        if isa(node_id,ActionID)
-            node = get_node_from_id(sched,node_id)
+        n_id = get_vtx_id(sched,v)
+        if isa(n_id,ActionID)
+            node = get_node_from_id(sched,n_id)
             @assert !(get_id(id) in get_valid_robot_ids(node)) "Robot id $(string(id)) should be wiped from schedule, but is present in $(string(node))"
         end
     end
@@ -346,3 +347,24 @@ function remove_robot!(env::SearchEnv,id::BotID,t::Int)
     # set assignment ids to -1 with replace_robot_id()
     # if in the middle of CARRY, another robot needs to get the object
 end
+
+# Simulation
+
+# select_action(robot,env_state,t) = get_a(get_path_node(robot.path,Int(round(t))))
+
+function step_simulation!(env_state,robots,base_station;
+        dt::Float64=1.0,
+    )
+    actions = []
+    for robot in robots
+        # robots receive instructions from base station
+        # robots observe environment
+        # robots communicate to base station
+        # robots choose actions 
+        # push!(actions,)
+    end
+
+    # environment steps forward
+
+    # base station updates global map
+end