{
  "name": "First decentralized and centralized MAPF comparison",
  "scenarios": [
    {"scenario_id": "crossing-2a"},
    {"scenario_id": "grid-8x8-4a"}
  ],
  "defaults": {
    "setting": "SETTING_4",
    "fov_size": 5,
    "commitment_type": "SC",
    "initial_tokens": 5,
    "max_steps": 40,
    "timeout_sec": 15,
    "negotiation_deadline_sec": 60,
    "recording_level": "full-trace",
    "random_seed": 42
  },
  "matrix": {
    "solver_id": ["Decentralized-HeatMap", "Decentralized-PathAware", "CBS", "Prioritized"]
  },
  "budget": {
    "workers": 1,
    "wall_seconds": 120,
    "max_trials": 8,
    "disk_mb": 256,
    "threads_per_worker": 1
  },
  "sampling": {
    "population": "Two teaching fixtures",
    "independent_unit": "scenario geometry and roster",
    "generalization": "none; tutorial only"
  }
}