Sometimes the collectivist (using goto_iaA_star.asl) is failing to find routes (it is getting "no_route" failures), i.e., the agent has a free path to the desired target, but for some reason it does not find a valid route.
Example:
In this case, A10 is a helper and A12 is mastering a task. Their maps are sync and seems to be right. A10 is in the right place. A12 came after and it is trying to find a route which should be a movement to the right side (east). However the path algorithm is not finding a route! This approach is necessary since they need to be closer to each other in order to connect the blocks, then A10 should detach, A12 rotate and finally A12 should go to a goal area to submit the task.
Debug message:
[agentA12] No success on: goto(-21,-31,no_route) myposition(-22,-31)
No route from -22,-31 to -21,-31!
Sometimes the collectivist (using goto_iaA_star.asl) is failing to find routes (it is getting "no_route" failures), i.e., the agent has a free path to the desired target, but for some reason it does not find a valid route.
Example:
In this case, A10 is a helper and A12 is mastering a task. Their maps are sync and seems to be right. A10 is in the right place. A12 came after and it is trying to find a route which should be a movement to the right side (east). However the path algorithm is not finding a route! This approach is necessary since they need to be closer to each other in order to connect the blocks, then A10 should detach, A12 rotate and finally A12 should go to a goal area to submit the task.
Debug message: