diff --git a/README.md b/README.md
index ae407b62..a8916361 100644
--- a/README.md
+++ b/README.md
@@ -1,8 +1,8 @@
# Arbitration Graphs
-
-
-
+[](https://github.com/KIT-MRT/arbitration_graphs/releases)
+[](./LICENSE)
+[](https://github.com/KIT-MRT/arbitration_graphs/actions/workflows/run-unit-tests.yaml?query=branch%3Amain)
**Hierarchical behavior models for complex decision-making and behavior generation in robotics!**
@@ -32,6 +32,10 @@ TODO: add example arbitration graph from robotics (with POMDP, RL methods)
Use tightly integrated verifiers to ensure that only safe and valid behavior commands are executed.
- 🪂 **Graceful Degradation**
Your behavior is unreliable or unsafe? Arbitrators will gracefully fall back to the next-best option.
+- 📦 **Header-Only**
+ Simple integration – just include this header-only C++ library!
+- 📜 **Permissive License**
+ Published under MIT license to ensure maximum flexibility for your projects.
## Demo
@@ -73,18 +77,27 @@ We will shortly add a [tutorial](https://github.com/KIT-MRT/arbitration_graphs/p
## Installation
-### Prerequisites
+The `arbitration_graphs` library consists of two parts
+- **Core**
+ This is what it's all about – base classes for arbitrators and behavior components, implementations of various arbitration schemes, behavior verification, …
+- **GUI** *optional*
+ Draws a live visual representation of the arbitration state (full graph, currently active behavior, current costs of behaviors, …) in a WebApp GUI. Supports SVG export as the one above (great for publications).
+
+
+Prerequisites
First make sure all dependencies are installed:
- [glog](https://github.com/google/glog)
-- [Googletest](https://github.com/google/googletest) (optional, if you want to build unit tests)
-- [yaml-cpp](https://github.com/jbeder/yaml-cpp)
- [util_caching](https://github.com/KIT-MRT/util_caching)
+- [yaml-cpp](https://github.com/jbeder/yaml-cpp)
+- [Googletest](https://github.com/google/googletest) (optional, if you want to build unit tests)
- [Crow](https://crowcpp.org) (optional, needed for GUI only)
See also the [`Dockerfile`](./Dockerfile) for how to install these packages under Debian or Ubuntu.
+
-### Installation using Debian package (recommended)
+
+Installation using Debian package (recommended)
We provide a Debian package for easy installation on Debian-based distributions.
Download the latest `.deb` packages for the [core library](https://github.com/KIT-MRT/arbitration_graphs/releases/latest/download/libarbitration-graphs-core-dev.deb)
@@ -94,8 +107,26 @@ and optionally for [the gui](https://github.com/KIT-MRT/arbitration_graphs/relea
sudo dpkg -i libarbitration-graphs-core-dev.deb
sudo dpkg -i libarbitration-graphs-gui-dev.deb
```
+
-### Using Docker image with pre-installed library
+
+Installation from .zip/.tar.gz
+
+As this is a header-only library, no platform-specific compilation is needed.
+So, you can also install the files directly from our release [`.zip` or `.tar.gz` archives](https://github.com/KIT-MRT/arbitration_graphs/releases/latest):
+
+```bash
+tar xf arbitration_graphs-core.tar.gz --directory=/
+tar xf arbitration_graphs-gui.tar.gz --directory=/
+```
+
+This installs into `/usr/[include,lib,share]/arbitration_graphs`.
+Please read [Serving the WebApp GUI](#serving-the-webapp-gui) below, if you consider custom installation paths and want to use the GUI.
+
+
+
+
+Using Docker image with pre-installed library
We provide a Docker image with the library and all dependencies already installed globally.
@@ -110,8 +141,10 @@ So, it can be easily loaded with CMake:
find_package(arbitration_graphs REQUIRED)
```
+
-### Building from source using CMake
+
+Building from source using CMake
Clone the repository:
@@ -132,10 +165,13 @@ sudo cmake --install .
In order to skip compiling the GUI, use `cmake -DBUILD_GUI=false ..` instead.
+
+
## Development
-### Using Docker image
+
+Using Docker image
Clone the repository and run the development image
@@ -149,8 +185,11 @@ docker compose run --rm arbitration_graphs_devel
This mounts the source into the container's `/home/blinky/arbitration_graphs` folder.
There, you can edit the source code, compile and run the tests etc.
+
-### Compiling unit tests
+
+
+Compiling unit tests
In order to compile with tests define `BUILD_TESTS=true`
```bash
@@ -166,8 +205,11 @@ Run all unit tests with CTest:
cmake --build . --target test
```
+
+
-### Serving the WebApp GUI
+
+Serving the WebApp GUI
The GUI consists of
- a web server with static WebApp files, see [`gui/app`](./gui/app)
@@ -183,3 +225,117 @@ If you intend to override these, please use the `APP_DIRECTORY` environment vari
```
APP_DIRECTORY=/my/custom/app/path my_awesome_executable
```
+
+
+
+
+## Contributors
+
+This library and repo has been crafted with ❤️ by
+
+**Christoph Burger**
+
+
+
+ ChristophBurger89
+
+
+
+
+ christoph-burger
+
+
+
+
+ 0009-0002-9147-8749
+
+**Nick Le Large**
+
+
+
+ ll-nick
+
+
+
+
+ nick-le-large
+
+
+
+
+ 0009-0006-5191-9043
+
+**Piotr Spieker**
+
+
+
+ orzechow
+
+
+
+
+ piotr-spieker
+
+
+
+
+ 0000-0002-0449-3741
+
+
+Christoph and Piotr coded the core in a pair-programming session.
+Piotr also contributed the GUI and GitHub Page.
+Nick implemented the awesome PacMan demo and tutorial, with drafting support by Christoph, reviews and finetuning by Piotr.
+
+The repository is maintained by Piotr Spieker
+
+
+ orzechow
+
+and
+Nick Le Large
+
+
+ ll-nick
+.
+
+
+## Citation
+
+If you use arbitration graphs in your research, we would be pleased if you cite our work:
+
+```bibtex
+@misc{spieker2024ArbitrationGraphs,
+ title={Better Safe Than Sorry: Enhancing Arbitration Graphs for Safe and Robust Autonomous Decision-Making},
+ author={Piotr Spieker and Nick Le Large and Martin Lauer},
+ year={2024},
+ eprint={2411.10170},
+ eprinttype = {arXiv},
+ archivePrefix={arXiv},
+ primaryClass={cs.RO},
+ doi = {10.48550/arXiv.2411.10170},
+ url={https://arxiv.org/abs/2411.10170},
+}
+
+@inproceedings{orzechowski2020ArbitrationGraphs,
+ title = {Decision-{{Making}} for {{Automated Vehicles Using}} a {{Hierarchical Behavior-Based Arbitration Scheme}}},
+ booktitle = {Intelligent {{Vehicles Symposium}}},
+ author = {Orzechowski, Piotr F. and Burger, Christoph and Lauer, Martin},
+ date = {2020-10},
+ pages = {767--774},
+ publisher = {IEEE},
+ location = {Las Vegas, NV, USA},
+ issn = {2642-7214},
+ doi = {10.1109/IV47402.2020.9304723},
+}
+
+@article{lauer2010CognitiveConceptsAutonomous,
+ title = {Cognitive Concepts in Autonomous Soccer Playing Robots},
+ author = {Lauer, Martin and Hafner, Roland and Lange, Sascha and Riedmiller, Martin},
+ date = {2010},
+ journaltitle = {Cognitive Systems Research},
+ volume = {11},
+ number = {3},
+ pages = {287--309},
+ doi = {10.1016/j.cogsys.2009.12.003},
+}
+```
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+img.github-logo {
+ content: url(/docs/assets/img/github-mark.svg);
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+
diff --git a/docs/assets/img/github-mark-white.svg b/docs/assets/img/github-mark-white.svg
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+
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+ ChristophBurger89
+
+
+
+ 
+ christoph-burger
+
+
+
+ 
+ 0009-0002-9147-8749
+