LTL Optimal Multi-Agent Planner (LOMAP)

LTL Optimal Multi-Agent Planner (LOMAP) is a python package for automatic planning of optimal paths for multi-agent systems. See the directory 'examples' (either in the source archive or in the installation directory) for examples.

Copyright (C) 2012-2015, Alphan Ulusoy (alphan@bu.edu)

Copyright (C) 2013-2020, Cristian-Ioan Vasile (cvasile@lehigh.edu, cristian.ioan.vasile@gmail.com)

Installation Instructions

Linux (Ubuntu)

1. Clone the lomap repository

• Navigate to desired location
• Run the following line in shell:

git clone https://github.com/wasserfeder/lomap.git

2. Install Spot using Debian Packages (https://spot.lrde.epita.fr/install.html)

• Run the following lines in shell:

  wget -q -O - https://www.lrde.epita.fr/repo/debian.gpg | sudo apt-key add -
  sudo sh -c "echo 'deb http://www.lrde.epita.fr/repo/debian/ stable/' >> /etc/apt/sources.list"
  sudo apt update
  sudo apt install spot libspot-dev spot-doc
  sudo apt install python3-spot # For python3 support

3. Install necessary dependencies:

• Run the following lines in shell:

  sudo apt install python-pip
  pip install six
  pip install matplotlib
  pip install numpy
  sudo apt install python-tk
  pip install networkx==1.11
  pip install pyyaml
  pip install pp # Optional
  apt install cmake

• Note: Ensure that Python 2.7 is installed.

• Note: If Python3, install matplotlib==2.2.3 in order to maintain compatibility with network 1.11

• Note: If Python3, there is not easy way to install pp package.

4. Download and unpack ltl2dstar

• Download from: https://www.ltl2dstar.de/

• Unpack ltl2dstar

• Navigate to the ltl2dstar folder

• Run the following lines in shell:

  mkdir build
  cd build/
  cmake -DCMAKE_BUILD_TYPE=Release ../src
  make

• Optionally add the binary to folder in PATH

  • For example:

    mkdir ~/bin
    cp ltl2dstar ~/bin/
    echo 'export PATH="$PATH:$HOME/bin"' >> ~/.bashrc

5. Set $PYTHONPATH to include the location of the lomap library:

• Run the following line in shell:

  export PYTHONPATH="${PYTHONPATH}:/path/to/lomap"

• Optionally make this setting persistent:

  echo 'export PYTHONPATH="${PYTHONPATH}:/path/to/lomap"' >> ~/.bashrc

6. Test if the setup worked properly:

• Navigate to /lomap/lomap/tests
• Run any of the Python test files
  • Ex. python test_automata.py

Common Issues:

1.    ImportError: No module named lomap.classes

• Problem: The lomap library is not in the path variable PYTHONPATH
• Possible Solution: Manually add lomap to your Python directory

  cd <lomap_directory>
  export PYTHONPATH="$PYTHONPATH:$PWD"

2.    File "/usr/bin/pip", line 9, in <module>
      from pip import main
      ImportError: cannot import name main

• Problem: Wrong version of pip (are using Python 3 pip)
• Solution: Run commands with pip2

3. AttributeError: 'Graph' object has no attribute 'nodes_iter' (or other graph issues)

• Problem: Wrong version of networkx installed
• Solution: Uninstall networkx and install networkx1.11 (see above)

Todo List:

• Port to networkx 2.x
• Add support for Python 3.x
• Remove old Ts/Markov file format system, use yaml
• Revise developer instructions, add more tests
• Create more testing examples with instructions (docs)
• Improve visualization
• Add support for DFSCAs
• Implement dfsa and dfsca minimization
• Integrate logic minimization
• Add Buchi/Rabin games
• Sync with twtl, reactive-ltl, lvrmod, pvrp, gdtl-firm
• Integrate GDTL and predicate system
• Add more examples
• Add RH/MPC framework
• General clean-up of code
• Test for functions and continuous integration system
• BDDs for guards

Copyright and Warranty Information

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

A copy of the GNU General Public License is included in this distribution, in a file called 'license.txt'.