MR. POP: Multi-Robot Parallel Optimizing Planner

This README is still under construction, do not worry we'll be back.

This repo holds the code for "MR. POP: Multi-Robot Parallel Optimizing Planner for Almost-Surely Asymptotically Optimal Planning."

Building Code

To build MR. POP, follow the instructions below

git clone git@github.com:CoMMALab/MR.POP.git
cd MR.POP
cmake -B build
cmake --build build

Running Benchmarks

MR. POP currently has two sets of benchmarks. The first is a set of 50 bin packing problems with four Frankas in the scene, totaling 28 degrees of freedom. The second is a set of 50 shelf reaching problems with five Frankas in the scene, totaling 35 degrees of freedom. The problems were based on the xECBS planner benchmark.

To run the four Franka benchmark:

build/evaluate_mr panda_four <experiment name>

To run the five Franka benchmark:

build/evaluate_mr panda_five <experiment name>