Team-Coordination on Graphs with Risky Edges (TCGRE)

This is implementation of team-coordination between multiple agents in presence of adversaries using graphs as mentioned in our paper:

Manshi Limbu, Sara Oughourli, Zechen Hu, Xuan Wang, Xuesu Xiao, Daigo Shishika, Team Coordination on Graphs with State-Dependent Edge Costs

Youtube Link is here!

Requirements

• networkx(>=3.0)
• numpy(>=1.24.2)
• matplotlib(>=3.7.0)

Installation

pip3 install -r requirements.txt

Run the demo (small nodes graph)

cd team-coordination
python3 quickCompare.py

Run the demo (large nodes graph)

For --nodes param, add number of nodes and for riskyedge param, add risk edge ratio (more info in the paper).

cd team-coordination
python3 graphCompare.py --nodes 10 --riskedge 0.2

Algorithms

You can choose between following algorithms:

• jsg: Converts multi-agent problem as single agent path planning algorithm.

• cjsg: Heirarchial path planning algorithm that alleviates the curse of dimesionality casued by jsg.

Cite

Please cite our paper if you use this code in your own work:

@INPROCEEDINGS{10341820,
  author={Limbu, Manshi and Hu, Zechen and Oughourli, Sara and Wang, Xuan and Xiao, Xuesu and Shishika, Daigo},
  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Team Coordination on Graphs with State-Dependent Edge Costs}, 
  year={2023},
  volume={},
  number={},
  pages={679-684},
  keywords={Costs;Statistical analysis;Scalability;Path planning;Planning;Complexity theory;Game theory},
  doi={10.1109/IROS55552.2023.10341820}}