This is the code for One-shot PIE.
## Usage
The code requires the external libraries 
BOOST (https://www.boost.org/) and Eigen (https://eigen.tuxfamily.org/). 

After you installed both libraries and downloaded the source code, 
go into the directory of the source code and compile it with CMake: 
```shell script
cmake -DCMAKE_BUILD_TYPE=RELEASE .
make
```

Then, you are able to run the code:
```
./lns -m random-32-32-20.map -a random-32-32-20-random-1.scen -o test -k 400 -t 300 --outputPaths=paths.txt -c 1 --solver LNS-Online --wait 1  
```

- m: the map file from the MAPF benchmark
- a: the scenario file from the MAPF benchmark
- o: the output file name (no need for file extension)
- k: the number of agents
- t: the runtime limit
- c: the number of commits 
- wait: initial time limit - 1
- outputPaths: the output file that contains the paths




