## System Overview: Multi-Agent Path Finding (MAPF) Visualization This document details the visualization of a Multi-Agent Path Finding (MAPF) system. The visualization displays agents navigating a grid-based environment, avoiding collisions and reaching their designated goals. ### 1. Environment Representation * **Grid:** The environment is represented as a 2D grid. Each cell in the grid can be either: * **Free Space:** Represents navigable areas. * **Obstacle:** Represents blocked areas that agents cannot traverse. * **Dimensions:** The grid dimensions are configurable (e.g., 20x20, 50x50). * **Visualization:** Free space is typically displayed as white or a light color, while obstacles are displayed as black or a dark color. ### 2. Agent Representation * **Shape:** Agents are visually represented as circles, squares, or other distinct shapes. * **Color:** Each agent is assigned a unique color for easy identification. * **Size:** Agent size is proportional to their radius or dimensions. * **Goal:** Each agent has a designated goal location, marked on the grid with a distinct symbol (e.g., a star, a target icon). ### 3. Path Visualization * **Path Lines:** The planned path for each agent is visualized as a series of connected lines. * **Path Color:** Path lines are colored differently from the agent's color to distinguish the path from the agent itself. * **Path Thickness:** Path line thickness can be adjusted for clarity. * **Real-time Updates:** The path visualization updates in real-time as agents move and replanning occurs. ### 4. Collision Avoidance Visualization * **Collision Detection:** The system detects potential collisions between agents. * **Collision Warning:** When a potential collision is detected, a visual warning is displayed (e.g., a flashing border around the agents, a highlighted area). * **Resolution:** The visualization shows how the system resolves collisions, either through replanning or by adjusting agent speeds. ### 5. Performance Metrics * **Makespan:** The total time taken for all agents to reach their goals. Displayed numerically. * **Number of Conflicts:** The total number of times agents had to resolve collisions. Displayed numerically. * **Path Lengths:** The total distance traveled by each agent. Displayed numerically. * **Computation Time:** The time taken to compute the paths. Displayed numerically. ### 6. User Interface (UI) Controls * **Start/Pause/Stop:** Buttons to control the simulation. * **Grid Size:** Input field to adjust the grid dimensions. * **Number of Agents:** Input field to adjust the number of agents. * **Agent Speed:** Slider to adjust the speed of the agents. * **Algorithm Selection:** Dropdown menu to select the MAPF algorithm (e.g., CBS, ECBS). * **Visualization Options:** Checkboxes or toggles to control the display of paths, collisions, and performance metrics. ### 7. Data Table Example | Metric | Value | Unit | | ------------------ | ----- | ------ | | Makespan | 15.2 | seconds | | Number of Conflicts | 5 | | | Average Path Length| 8.7 | units | | Computation Time | 0.5 | seconds |