Guiding to Traffic Management Library

Traffic Management library has been applied and developed from cbs-mapf_ to be used for result of fleet management which is List of list of ways point for each vehicle. In other words, It is [ [route vehicle 1],[route vehicle 2], … , [route vehicle n] ] (Define its name as list of vehicle route).

There are 2 major funtions that have developed :

1.Full planning function is a function that use for plan all at once

full_plan()

Input variable	Format
obstacle	List[tuple[int,int]]
fleet	List[List[int,int]]

sample_fullplan_ is an example to use full_plan()

2.Multi-Agent Traffic Control (matc) is a function replanning traffic when one of agents have picked up or delivered and then replanning from its current position.(User have to write a program to use with this function) To use , User have to initial data first by call sub-function initial()

initial()

Input variable	Format
obstacle	List[tuple[int,int]]
fleet	List[List[int,int]]

If initial() is called , User have to call matc_plan() with no agrument to get fisrt planning path .After this, the user have to write program to keep checking that’s which agent has arrived its goal. When every agents have already picked up or delivered at all targets this function will return True,True

matc_plan()

Input variable	Format	Description
Trigger	Boolean	True,False
arrive_id	Integer	Id of agent which has picked up or delivered (must related to index from fleet’s input in initial())
current_all_pos	List[List[int,int]]	Current position of every agent in a time that matc_plan() has been called (lenght and index must related to fleet’s input in initial())

Here is a table of output from matc_plan() with its condition (define that ‘PATH’ is a numpy.ndaarray with shape (N, L, 2) with N being the number of agents and L being the length of the path)

Condition of matc_plan()

Condition	Return	Example
To get first planning path	[ ],PATH	first_path = matc_plan()
Normal planning	available_agent = List[agent_id] , PATH	agent,path = matc_plan(True,1,[ [150.35],[225,140],[389,128] ])
When all complete	True,True

sample_matc_ is an example to use matc_plan()

This function can also connect to ROS2 . This_ is an example code to connect Traffic Management library with ROS2 by spin ROS2 node . In an example , class of Traffic Service Server is an inherit of Traffic management and Traffic Service Server will spin ‘traffic_service_server’ node and create ROS2 custom service which connected to matc_plan() in Traffic Management