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Debug_and_Visualise_Your_Planner.md

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Debug and Visualise Your Planner

The output file provides some related information to help you design and debug your planner. Begin by familiarizing yourself with the structure of the output JSON file. Please refer to the Input_Output_Format.md.

Debug your planner using Output File

To debug your planners, there are some properties that can help you learn how your planner coordinates the robots. Here are some suggestions that you might find useful:

  1. Check for Validity: Inspect the errors and scheduleErrors to identify and address any invalid actions or schedules.
  2. Review Paths: Study the plannerPaths and actualPaths results to check whether your planner behaves consistently with your expectations.
  3. Review Schedules: Study the plannerSchedule and actualSchedule results to check whether the scheduler behaves consistently with your expectations.
  4. Analyze Times: Look at the plannerTimes property to understand the time taken by your entry during each computing episode. Investigate further if you notice significant deviations from expected time consumption.
  5. Other Ways: You can also compare your performance and design a better planner by looking at the numTaskFinished results and analyzing the tasks finished by events and tasks.

Visualise your planner using Output File

We also provide a tool called PlanViz for visualising your plan with the output JSON file. PlanViz shows the animation of the actualPaths and actualSchedule of agents in the JSON file. While the actual paths and actual schedule are always valid and conflict-free, the plannerPaths and plannerSchedule might contain conflicts and invalid moves. In such cases, PlanViz can highlight the problematic agents with red color. You can also click each item in the error list and the event list to jump to the corresponding timestep. Note that PlanViz does not do any validation or error checking. Therefore, the errors it shows are those recorded in the JSON file. If you modify the JSON file manually, the error list and agent highlighting can be inconsistent with the movement.

For more details, please refer to the Visualiser Page.