Overview
SMART (Scalable Multi‑Agent Realistic Testbed) is a realistic and efficient software tool for evaluating Multi‑Agent Path Finding (MAPF) algorithms. SMART bridges the gap between MAPF research and real‑world application by combining physics‑engine based simulation, an execution monitoring framework, and scalable software design that supports large numbers of robots.
Key highlights
Realistic simulation using physics engines to capture kinodynamics and execution uncertainty.
Execution monitoring based on an Action Dependency Graph to integrate planners and robot models.
Designed to scale to hundreds or thousands of agents for large experiments.
Source code, examples and usage instructions are available in the original project repository: