Welcome to SMART

SMART is an open-source testbed for executing and evaluating Multi-Agent Path Finding (MAPF) plans in a realistic simulator. The public codebase combines ARGoS 3 for simulation, an Action Dependency Graph (ADG) based execution monitor, and helper scripts for turning benchmark maps and scenarios into runnable experiments.

This documentation site tracks the current public SMART sources:

Source code: smart-mapf/smart
Paper: arXiv:2503.04798
Documentation source: JingtianYan/smart-docs

Video Demo

Watch the SMART demonstration video on YouTube: https://www.youtube.com/watch?v=TX-oGSgM8VQ

How to Get It

The public repository is distributed as source code:

Build on Linux - Build on Ubuntu/Linux
Installation - Installation summary

How to Use It

SMART provides a few practical entry points:

Web demo: Explore the public demo at https://smart-mapf.github.io/demo/ - see Web Demo Tutorial
Run the shipped examples: See Running SMART and Examples
Prepare inputs: Use Input Formats for .map, .scen, and path files
Integrate a planner: Write a SMART path file and run it with Planner Integration
Inspect outputs: See Interfaces and Outputs for the current command-line interface and statistics outputs

What the Public Repo Includes

The current public SMART repository contains:

run_sim.py as the main helper script
ArgosConfig/ for generating ARGoS configuration files
server/ for the ADG execution-monitoring server
client/ for ARGoS controllers and executors
Example maps, scenarios, and path files in the repository root

Research Paper

The technical background and evaluation are described in the SMART paper: Advancing MAPF towards the Real World: A Scalable Multi-Agent Realistic Testbed (SMART).

Please cite it as:

@article{yan2025smart,
  title={Advancing MAPF towards the Real World: A Scalable Multi-Agent Realistic Testbed (SMART)},
  author={Yan, Jingtian and Li, Zhifei and Kang, William and Zheng, Kevin and Zhang, Yulun and Chen, Zhe and Zhang, Yue and Harabor, Daniel and Smith, Stephen F and Li, Jiaoyang},
  journal={arXiv preprint arXiv:2503.04798},
  year={2025}
}

Participate

Source repository: smart-mapf/smart
Source issue tracker: smart-mapf/smart issues
Documentation repository: JingtianYan/smart-docs

FAQ

If you run into problems, check FAQ - Frequently Asked Questions.

License

SMART is released under the MIT License.