The MPAS project Multi-agent Pathfinding Algorithms Simulator

Application Design Document - ADD

Technical Advisor : Mr. Roni Stern Academic Advisor : Dr. Meir KalechTeam members :

Amit Ofer Liron Katav

Project Homepage : http://mpasproject.weebly.com

Reminder : project’s goal Our Project’s goal is to develop a simulator that

will help to observe the different behaviors and compare the performance of various multi-agent pathfinding algorithms.

The algorithms we will implement: A* - MultiAgent Version. Cooperative A* , Silver Hierarchical Cooperative A* (HCA*) , Silver, D. Cooperative PathFinding (ID + OD) , Trevor.

Use cases – Grid maps

Use cases – Geographical maps

System architecture

Algorithm Layer

Graphical User

Interface(GUI) Layer

Controller Layer

-Method Invocation-Events

User Gestures

ViewChanges

Input

State Change

Class diagram

Class diagram (cont’)

Graphical User Interface

Overview of the user interface

Change the size of the grid

Generate random agent’s positions

Change number of agents

Generate random map

Load/Save maps and sceneries

Finding a path

Changing allowed directions

Running the algorithm in steps

Testing

Non-functional requirements Testing

Speed we will measure by timer the time it takes to load the application. In order to test that the system produces output in less than 15

minutes we will wrap the algorithms with timers.

Capacity We will run the simulation with different *.map files contains up to

100 agents and 100*100 grid size and check they loaded correctly.

Reliability The system should be able to detect when a corrupted file is

loaded and alert the user :we will produce corrupted input files and run the software on them to see if the system alerts the user.

We'll test the system with boundary and illegal inputs. For example - undefined cell on the grid as input for agent position

Non-functional requirements Testing

Usability We will deliver the prototype of the simulator to the users and

examine their time to learn the system. We'll tests that the use of the system isn't difficult or unclear by

letting users to use it. We will test the user's response to the GUI, and see if the system is

comfortable.

Availability We'll Measure the response time of the system (with a timer).

Functional requirements Testing

We used JUnit in order to test the functional requirements: Choose the size of the grid map, and the number of agents. Load grid maps. Save grid maps. Clear map. Sets the starting and finishing cells for each agent. Set blocking cells. Choose the algorithm to be tested. Choose the heuristic to be used. Start the simulation. Stop the simulation. Running the simulation Step by step. Generate random scenario.

Task list

Uncompleted tasks.

Finish the simulator infrastructure and GUI.

Implement the 2 remaining algorithms.

Add performance measurements. Add more features. Add more animation abilities &

graphics. Add geographical map support (if we

have enough time) User manual and other documents.

Time table

Issues on GoogleCode

The End

Thank you for listening