Hybrid Hierarchical POMDP

This is the C++ implementation for our paper
Indoor Pursuit-Evasion with Hybrid Hierarchical Partially Observable Markov Decision Processes for Multi-Robot Systems
Sha Yi, Changjoo Nam, Katia Sycara

Please cite our work if you hope to use this in your research:

@conference{Yi2018Indoor,
author = {Sha Yi and Changjoo Nam and Katia Sycara},
title = {Indoor Pursuit-Evasion with Hybrid Hierarchical Partially Observable Markov Decision Processes for Multi-Robot Systems},
booktitle = {International Symposium on Distributed Autonomous Robotic Systems (DARS)},
year = {2018},
month = {October},
publisher = {Springer},
} 

Setup

The core is written in C++. You might need c++11, Eigen, Boost, CMake >= 2.8. The command line parser is cxxopts.
The visualization is written in python. You might need opencv, numpy.

Builds

To build the project:

mkdir bin
cd bin
cmake ..
make

Demo

To run our demo, simply go to the binarys (if you follow the instruction, cd bin/), and

./experiment -e 1 -m 4 -n 2 -s

To visualize the output, go the scripts/ directory, and

python show_proc.py 0 4 2