This repository contains implementation of MA-RRT* as described in papers:

M. Čáp, P. Novák, J. Vokřínek, and M. Pěchouček, “Multi-agent RRT*: sampling-based cooperative pathfinding,” in Autonomous robots and multirobot systems workshop at AAMAS 2013, 2013. 

and

M. Čáp, P. Novák, J. Vokřínek, and M. Pěchouček, “Multi-agent RRT*: sampling-based cooperative pathfinding (extended abstract),” in Proceedings of the 12th international conference on autonomous agents and multiagent systems, AAMAS’13, 2013.

Dependencies:
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You will need:
* JDK 1.7 or higher
* Maven

Compiling:
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The dependencies are managed using Maven. To build the project run the following command in the root of the repository: 

$ mvn package

Then, the compiled sources together with all dependencies will be generated in jar archive target/marrt-1.0-SNAPSHOT-jar-with-dependencies.jar.

Running:
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To run a single experiment, execute the following command with appropriate arguments. For example:

$ java -jar target/marrt-1.0-SNAPSHOT-jar-with-dependencies.jar none default bmarrt random 20 20 10 0.8 0.1 0.8 5513 true 5000

This command will run the class cz.agents.deconfliction.creator.MultiAgentScenarioCreator and passes the above arguments to it. 
To understand the meaning of the individual arguments, please consult the source code.