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🎯 Core Changes
- Introduced a new plugin for the Distributed Hungarian algorithm, which facilitates task assignment among agents in a multi-robot system. This implementation includes methods for decision-making, cluster synchronization, and message handling.
- The code lacks unit tests to ensure the correctness of the new functionalities.
- The handling of infinite weights in the
_run_centralized_hungarianmethod may lead to unexpected behavior if not properly managed.
Code review performed by OPENAI - gpt-4o-mini.
| """Run standard Hungarian locally on self.R and self.P""" | ||
| self._build_weights_matrix() | ||
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| w = np.where(np.isinf(self.weights), 1e9, self.weights) |
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Consider adding error handling for cases where the weights matrix contains infinite values, as this could lead to unexpected behavior during task assignment.
| matching = list(zip(row_ind.tolist(), col_ind.tolist())) | ||
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| result = self._assign_from_matching(matching) | ||
| self.gamma += 1 # 매칭 완료 시 γ 증가 (논문의 Local_Hungarian 수렴 카운터) |
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It is crucial to include unit tests for the new functionalities introduced in this plugin to ensure correctness and reliability.
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