def test_pre_S2():
G = Graph()
connectivity_edges = [0, 1, 2, 3] # directed connectivity path (one way)
transition_edges = [0, 1, 2, 3] # directed transition path (one way)
# Add edges to graph
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
S_v_t = set([(1, 0), (2, 1), (0, 2), (1, 2), (3, 2)])
# np.testing.assert_equal(G.pre_tran_vt(S_v_t),
# set([(0,0,0)]))
np.testing.assert_equal(
G.pre_conn_vt(S_v_t),
set([(0, 1, 0), (2, 1, 0), (1, 2, 1), (3, 2, 1), (2, 1, 2),
(2, 3, 2)]),
)
np.testing.assert_equal(
G.pre_tran_vt(S_v_t),
set([
(3, 2, 0),
(0, 1, 1),
(0, 0, 1),
(1, 0, 1),
(2, 2, 0),
(3, 3, 1),
(1, 1, 1),
]),
)
def get_linear_graph(n):
G = Graph()
G.add_transition_path(list(range(n)))
G.add_connectivity_path(list(range(n)))
G.set_node_positions({i: (0, i) for i in range(n)})
return G
def test_inflate2():
G = Graph()
G.add_transition_path(list(range(0, 12)))
G.add_connectivity_path(list(range(0, 12)))
G.add_connectivity_path([6, 8])
agent_positions = {0: 0, 1: 1, 2: 4, 3: 6, 4: 8, 5: 10}
G.init_agents(agent_positions)
cs = ClusterStructure(agent_clusters={
"c0": [0, 1],
"c1": [2, 3],
"c2": [4, 5]
})
master = 0
cp = ClusterProblem()
cp.graph = G
cp.master = master
cp.prepare_problem(remove_dead=False)
cs = inflate_agent_clusters(cp, cs)
np.testing.assert_equal(cs.subgraphs["c0"], set([0, 1, 2, 3]))
np.testing.assert_equal(cs.subgraphs["c1"], set([4, 5, 6, 7]))
np.testing.assert_equal(cs.subgraphs["c2"], set([8, 9, 10, 11]))
np.testing.assert_equal(cs.child_clusters["c0"], {("c1", 4)})
np.testing.assert_equal(cs.child_clusters["c1"], {("c2", 8)})
np.testing.assert_equal(cs.child_clusters["c2"], set())
np.testing.assert_equal(cs.parent_clusters["c1"], ("c0", 3))
np.testing.assert_equal(cs.parent_clusters["c2"], ("c1", 6))
def test_agent_clustering1():
G = Graph()
G.add_transition_path(list(range(0, 50)))
G.add_connectivity_path(list(range(0, 50)))
agent_positions = {0: 0, 1: 1, 2: 35, 3: 30, 4: 25}
G.init_agents(agent_positions)
cp = ClusterProblem()
cp.graph = G
cp.static_agents = [0]
cp.prepare_problem(remove_dead=False)
agent_clusters = agent_clustering(cp, 2)
np.testing.assert_equal({0, 1} in map(set, agent_clusters.values()), True)
np.testing.assert_equal({2, 3, 4} in map(set, agent_clusters.values()), True)
def test_horiz2():
G = Graph()
connectivity_edges = [0, 1, 2, 3] # directed connectivity path (one way)
transition_edges = [0, 1, 2, 3] # directed transition path (one way)
# Add edges to graph
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
# Set initial position of agents
agent_positions = {0: 0, 1: 1, 2: 3} # agent:position
# Init agents in graphs
G.init_agents(agent_positions)
# Set up the connectivity problem
cp = ConnectivityProblem()
# Specify graph
cp.graph = G
# Specify time horizon
cp.T = 2
# Specify sources
cp.src = [2]
cp.static_agents = [0, 2]
if import_gurobi():
cp.solve_flow()
# positions of robot 0
np.testing.assert_equal(cp.traj[0, 0], 0)
np.testing.assert_equal(cp.traj[0, 1], 0)
np.testing.assert_equal(cp.traj[0, 2], 0)
# positions of robot 1
np.testing.assert_equal(cp.traj[1, 0], 1)
np.testing.assert_equal(cp.traj[1, 1], 2)
np.testing.assert_equal(cp.traj[1, 2], 1)
# positions of robot 2 (fixed)
np.testing.assert_equal(cp.traj[2, 0], 3)
np.testing.assert_equal(cp.traj[2, 1], 3)
np.testing.assert_equal(cp.traj[2, 2], 3)
def test_frontier_weighting():
n = 4
# Define a connectivity graph
G = Graph()
G.add_transition_path(list(range(n)))
G.add_connectivity_path(list(range(n)))
G.set_node_positions({i: (0, i) for i in range(n)})
frontiers = {0: 1, 1: 1, 2: 4, 3: 1}
G.set_frontiers(frontiers)
agent_positions = {0: 0, 1: 2, 2: 3}
G.init_agents(agent_positions)
# Set up the connectivity problem
cp = ConnectivityProblem()
cp.graph = G
cp.T = 6
cp.static_agents = []
cp.master = 0
cp.src = [2]
cp.snk = [1]
# Solve
if import_gurobi():
cp.solve_flow(master=True,
frontier_reward=True,
connectivity=True,
cut=True)
# Check solution
for t in range(3):
np.testing.assert_equal(cp.traj[0, t], [0, 1, 2, 2][t])
np.testing.assert_equal(cp.traj[1, t], 2)
np.testing.assert_equal(cp.traj[2, t], 3)
np.testing.assert_equal(cp.conn[0], set())
np.testing.assert_equal(cp.conn[1], set())
np.testing.assert_equal(cp.conn[2],
set([(2, 3, "master"), (3, 2, 2)]))
def test_strategy2():
G = Graph()
G.add_transition_path(list(range(0, 25)))
G.add_transition_path(list(range(26, 50)))
G.add_connectivity_path(list(range(0, 25)))
G.add_connectivity_path(list(range(26, 50)))
G.add_transition_path([0, 26])
G.set_frontiers({24: 1, 49: 1})
agent_positions = {0: 0, 1: 3, 2: 27, 3: 6, 4: 8, 5: 42, 6: 47}
G.init_agents(agent_positions)
cp = ClusterProblem()
cp.graph = G
cp.static_agents = [0]
cp.master = 0
cp.max_problem_size = 1
cp.prepare_problem(remove_dead=False)
cs = ClusterStructure(agent_clusters=agent_clustering(cp, 3))
cs = inflate_agent_clusters(cp, cs)
kill_list = kill_largest_frontiers(cp, cs)
np.testing.assert_equal(kill_list, set(range(48, 50)) | set(range(9, 25)))
def get_small_graph():
# Define a connectivity graph
G = Graph()
# Add edges to graph
connectivity_edges = [0, 1, 2, 3, 4, 5]
transition_edges = [0, 1, 2, 3, 4, 5]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [4, 6, 7, 8]
transition_edges = [4, 6, 7, 8]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [1, 9, 10, 11, 12, 13]
transition_edges = [1, 9, 10, 11, 12, 13]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [9, 14, 15, 12]
transition_edges = [9, 14, 15, 12]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [8, 10]
G.add_connectivity_path(connectivity_edges)
# Set node positions
node_positions = {
0: (0, 0),
1: (0, 1.3),
2: (-0.4, 1.3),
3: (-0.4, 2.2),
4: (-0.7, 2.2),
5: (-0.7, 1),
6: (-1, 2.5),
7: (-1, 3.5),
8: (-0.7, 3.3),
9: (0, 3),
10: (-0.4, 3),
11: (-0.4, 4),
12: (0, 4),
13: (0, 5),
14: (0.4, 3),
15: (0.4, 4),
}
G.set_node_positions(node_positions)
return G
def test_agent_clustering2():
G = Graph()
G.add_transition_path(list(range(0, 25)))
G.add_transition_path(list(range(26, 50)))
G.add_transition_path([0, 26])
agent_positions = {0: 0, 1: 3, 2: 27, 3: 20, 4: 24, 5: 42, 6: 47}
G.init_agents(agent_positions)
cp = ClusterProblem()
cp.graph = G
cp.static_agents = [0]
cp.prepare_problem(remove_dead=False)
agent_clusters = agent_clustering(cp, 3)
np.testing.assert_equal({0, 1, 2} in map(set, agent_clusters.values()), True)
np.testing.assert_equal({3, 4} in map(set, agent_clusters.values()), True)
np.testing.assert_equal({5, 6} in map(set, agent_clusters.values()), True)
def test_master_comm():
n = 4 # size of graph
# Define a connectivity graph
G = Graph()
G.add_transition_path(list(range(n)))
G.add_connectivity_path(list(range(n)))
G.set_node_positions({i: (0, i) for i in range(n)})
G.set_frontiers({1: 1})
G.init_agents({0: 0, 1: 2, 2: 3})
# Set up the connectivity problem
cp = ConnectivityProblem()
cp.graph = G
cp.T = 5
cp.static_agents = []
cp.master = 0
cp.src = [2]
cp.snk = [1]
# Solve with master, without frontier rewards
if import_gurobi():
cp.solve_flow(frontier_reward=False,
master=True,
connectivity=True,
cut=False)
# Check solution
for t in range(6):
np.testing.assert_equal(cp.traj[0, t], 0 if t == 0 else 1)
np.testing.assert_equal(cp.traj[1, t], 2)
np.testing.assert_equal(cp.traj[2, t], 3)
np.testing.assert_equal(
cp.conn[t],
set([(1, 2, "master"), (2, 3, "master"),
(3, 2, 2)]) if t == 1 else set(),
)
cp.solve_flow(frontier_reward=True,
master=True,
connectivity=True,
cut=False)
# Check solution
for t in range(6):
np.testing.assert_equal(cp.traj[0, t], 0 if t == 0 else 1)
np.testing.assert_equal(cp.traj[1, t], 2 if t < 2 else 1)
np.testing.assert_equal(cp.traj[2, t], [3, 3, 2, 1, 1, 1][t])
np.testing.assert_equal(
cp.conn[t],
set([(1, 2, "master"), (2, 3, "master")]) if t == 1 else set())
# Solve without master, without frontier rewards
cp.solve_flow(frontier_reward=False,
master=False,
connectivity=True,
cut=False)
# Check solution
for t in range(6):
np.testing.assert_equal(cp.traj[0, t], 0)
np.testing.assert_equal(cp.traj[1, t], 2)
np.testing.assert_equal(cp.traj[2, t], 3)
np.testing.assert_equal(cp.conn[t],
set([(3, 2, 2)]) if t == 0 else set())
# Solve without master, with frontier rewards
cp.solve_flow(frontier_reward=True,
master=False,
connectivity=True,
cut=False)
# Check solution
for t in range(6):
np.testing.assert_equal(cp.traj[0, t], 0 if t == 0 else 1)
np.testing.assert_equal(cp.traj[1, t], 2 if t < 1 else 1)
np.testing.assert_equal(cp.traj[2, t], [3, 2, 1, 1, 1, 1][t])
np.testing.assert_equal(cp.conn[t], set())
def get_huge_graph():
G = Graph()
# Add edges to graph
connectivity_edges = [0, 1, 2, 3, 4, 5]
transition_edges = [0, 1, 2, 3, 4, 5]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [4, 6, 7, 8]
transition_edges = [4, 6, 7, 8]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [1, 9, 10, 11, 12, 13]
transition_edges = [1, 9, 10, 11, 12, 13]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [9, 14, 15, 12]
transition_edges = [9, 14, 15, 12]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [1, 16, 17, 18, 19, 20, 21, 22, 23, 24]
transition_edges = [1, 16, 17, 18, 19, 20, 21, 22, 23, 24]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [8, 10]
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [15, 24]
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [11, 25, 26, 27, 28, 29, 30, 31]
transition_edges = [11, 25, 26, 27, 28, 29, 30, 31]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [29, 32, 33, 34, 35]
transition_edges = [29, 32, 33, 34, 35]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [22, 36, 37, 38, 39, 40, 41]
transition_edges = [22, 36, 37, 38, 39, 40, 41]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [39, 42, 43, 44, 45]
transition_edges = [39, 42, 43, 44, 45]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [5, 46, 47, 48, 49]
transition_edges = [5, 46, 47, 48, 49]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [15, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60]
transition_edges = [15, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [55, 61, 62, 63, 64, 65, 66, 67]
transition_edges = [55, 61, 62, 63, 64, 65, 66, 67]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [46, 68, 69, 70, 71, 72, 73, 74, 75, 76, 33]
transition_edges = [46, 68, 69, 70, 71, 72, 73, 74, 75, 76, 33]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [75, 77, 78, 27]
transition_edges = [75, 77, 78, 27]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [76, 79, 80, 81, 82, 83, 84, 85, 86, 87]
transition_edges = [76, 79, 80, 81, 82, 83, 84, 85, 86, 87]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [36, 88, 89, 90, 91, 92, 93, 94, 95]
transition_edges = [36, 88, 89, 90, 91, 92, 93, 94, 95]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [24, 96, 97, 98, 99]
transition_edges = [24, 96, 97, 98, 99]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
# Set node positions
node_positions = {
0: (0, 0),
1: (0, 1),
2: (-2, 1),
3: (-2, 2),
4: (-3, 2),
5: (-3, 1),
6: (-3, 3),
7: (-3.5, 3.5),
8: (-2.5, 3.5),
9: (0, 3),
10: (-1.8, 3),
11: (-1.6, 4),
12: (0, 4),
13: (0, 5),
14: (1, 3),
15: (1, 4),
16: (1.5, 1),
17: (2.5, 1.3),
18: (4, 1.3),
19: (5, 1.3),
20: (5, 2),
21: (4, 3),
22: (5, 3),
23: (5, 4),
24: (3.5, 4),
25: (-1.6, 5),
26: (-1.7, 6),
27: (-2, 6.5),
28: (-2, 7.5),
29: (-1.5, 8.5),
30: (-1.5, 10),
31: (-1.5, 11),
32: (-2.5, 8.8),
33: (-3.5, 9),
34: (-4, 10),
35: (-4.5, 11),
36: (6, 3),
37: (6.5, 3.8),
38: (7.2, 4.5),
39: (7.5, 5.5),
40: (7, 6),
41: (7, 7),
42: (8.5, 6),
43: (9.5, 6.5),
44: (10, 7),
45: (11, 7),
46: (-4, 1),
47: (-4.5, 2),
48: (-5, 3),
49: (-5, 4),
50: (1, 5),
51: (1.2, 6),
52: (1.5, 7),
53: (2, 8),
54: (2, 9),
55: (3, 10),
56: (4, 10.5),
57: (5, 11),
58: (6, 11),
59: (6.5, 12),
60: (7, 13),
61: (2.5, 11),
62: (2, 12),
63: (2, 13),
64: (1, 14),
65: (0, 15),
66: (-1, 15.5),
67: (-2.5, 15),
68: (-5, 1),
69: (-6, 1),
70: (-7, 2),
71: (-7, 3),
72: (-7.5, 4),
73: (-7.5, 5),
74: (-6, 6),
75: (-5, 7),
76: (-4, 8),
77: (-4, 6),
78: (-3, 6),
79: (-5, 8),
80: (-5, 9.2),
81: (-5.5, 10),
82: (-6, 11),
83: (-7, 11),
84: (-7, 12),
85: (-6.5, 13),
86: (-6, 14),
87: (-7, 15),
88: (7, 3),
89: (8, 3),
90: (9, 4),
91: (9.5, 5),
92: (10, 5),
93: (11, 6),
94: (12, 7),
95: (13, 8),
96: (3.5, 5),
97: (4, 6),
98: (4, 7),
99: (4.5, 8),
}
G.set_node_positions(node_positions)
# Set small nodes
small_nodes = [v for v in node_positions]
small_nodes.remove(0)
G.set_small_node(small_nodes)
return G
def get_medium_graph():
# Define a connectivity graph
G = Graph()
# Add edges to graph
connectivity_edges = [0, 1, 2, 3, 4, 5]
transition_edges = [0, 1, 2, 3, 4, 5]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [4, 6, 7, 8]
transition_edges = [4, 6, 7, 8]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [1, 9, 10, 11, 12, 13]
transition_edges = [1, 9, 10, 11, 12, 13]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [9, 14, 15, 12]
transition_edges = [9, 14, 15, 12]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [1, 16, 17, 18, 19, 20, 21, 22, 23, 24]
transition_edges = [1, 16, 17, 18, 19, 20, 21, 22, 23, 24]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [8, 10]
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [15, 24]
G.add_connectivity_path(connectivity_edges)
# Set node positions
node_positions = {
0: (0, 0),
1: (0, 1),
2: (-2, 1),
3: (-2, 2),
4: (-3, 2),
5: (-3, 1),
6: (-3, 3),
7: (-3.5, 3.5),
8: (-2.5, 3.5),
9: (0, 3),
10: (-1.8, 3),
11: (-1.6, 4),
12: (0, 4),
13: (0, 5),
14: (1, 3),
15: (1, 4),
16: (1.5, 1),
17: (2.5, 1.3),
18: (4, 1.3),
19: (5, 1.3),
20: (5, 2),
21: (4, 3),
22: (5, 3),
23: (5, 4),
24: (3.5, 4),
}
G.set_node_positions(node_positions)
return G
def test_to_frontier():
G = Graph()
# Add edges to graph
connectivity_edges = [0, 1, 2, 3, 4, 5]
transition_edges = [0, 1, 2, 3, 4, 5]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [4, 6, 7, 8]
transition_edges = [4, 6, 7, 8]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [1, 9, 10, 11, 12, 13]
transition_edges = [1, 9, 10, 11, 12, 13]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [9, 14, 15, 12]
transition_edges = [9, 14, 15, 12]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [1, 16, 17, 18, 19, 20, 21, 22, 23, 24]
transition_edges = [1, 16, 17, 18, 19, 20, 21, 22, 23, 24]
G.add_transition_path(transition_edges)
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [8, 10]
G.add_connectivity_path(connectivity_edges)
connectivity_edges = [15, 24]
G.add_connectivity_path(connectivity_edges)
# Set node positions
node_positions = {
0: (0, 0),
1: (0, 1),
2: (-2, 1),
3: (-2, 2),
4: (-3, 2),
5: (-3, 1),
6: (-3, 3),
7: (-3.5, 3.5),
8: (-2.5, 3.5),
9: (0, 3),
10: (-1.8, 3),
11: (-1.6, 4),
12: (0, 4),
13: (0, 5),
14: (1, 3),
15: (1, 4),
16: (1.5, 1),
17: (2.5, 1.3),
18: (4, 1.3),
19: (5, 1.3),
20: (5, 2),
21: (4, 3),
22: (5, 3),
23: (5, 4),
24: (3.5, 4),
}
G.set_node_positions(node_positions)
frontiers = {6: 1, 13: 1, 22: 1}
G.set_frontiers(frontiers)
G.init_agents({0: 0, 1: 1, 2: 2, 3: 14})
# CLUSTERING
cp = ClusterProblem()
cp.graph = G
cp.k = 2 # number of desired clusters
cp.master = 0
cp.static_agents = [0]
if import_gurobi():
cp.solve_to_frontier_problem(soft=True)
end_pos = set([cp.traj[r, cp.T_sol] for r in range(4)])
num_front = len(end_pos & set(frontiers.keys()))
np.testing.assert_array_less(3, num_front + 0.5) # all three frontiers
