class TestSpaceNonToroidal(unittest.TestCase):
'''
Testing a toroidal continuous space.
'''
def setUp(self):
'''
Create a test space and populate with Mock Agents.
'''
self.space = ContinuousSpace(70, 20, False, -30, -30, 100, 100)
self.agents = []
for i, pos in enumerate(TEST_AGENTS):
a = MockAgent(i, None)
self.agents.append(a)
self.space.place_agent(a, pos)
def test_agent_positions(self):
'''
Ensure that the agents are all placed properly.
'''
for i, pos in enumerate(TEST_AGENTS):
a = self.agents[i]
assert a.pos == pos
def test_distance_calculations(self):
'''
Test toroidal distance calculations.
'''
pos_2 = (70, 20)
pos_3 = (-30, -20)
assert self.space.get_distance(pos_2, pos_3) == 107.70329614269008
def test_neighborhood_retrieval(self):
'''
Test neighborhood retrieval
'''
neighbors_1 = self.space.get_neighbors((-20, -20), 1)
assert len(neighbors_1) == 2
neighbors_2 = self.space.get_neighbors((40, -10), 10)
assert len(neighbors_2) == 0
neighbors_3 = self.space.get_neighbors((-30, -30), 10)
assert len(neighbors_3) == 0
def test_bounds(self):
'''
Test positions outside of boundary
'''
for i, pos in enumerate(OUTSIDE_POSITIONS):
a = MockAgent(len(self.agents) + i, None)
with self.assertRaises(Exception):
self.space.place_agent(a, pos)
a = self.agents[0]
for pos in OUTSIDE_POSITIONS:
assert self.space.out_of_bounds(pos)
with self.assertRaises(Exception):
self.space.move_agent(a, pos)
class TestSpaceToroidal(unittest.TestCase):
'''
Testing a toroidal continuous space.
'''
def setUp(self):
'''
Create a test space and populate with Mock Agents.
'''
self.space = ContinuousSpace(70, 20, True, -30, -30)
self.agents = []
for i, pos in enumerate(TEST_AGENTS):
a = MockAgent(i, None)
self.agents.append(a)
self.space.place_agent(a, pos)
def test_agent_positions(self):
'''
Ensure that the agents are all placed properly.
'''
for i, pos in enumerate(TEST_AGENTS):
a = self.agents[i]
assert a.pos == pos
def test_agent_matching(self):
'''
Ensure that the agents are all placed and indexed properly.
'''
for i, agent in self.space._index_to_agent.items():
assert agent.pos == tuple(self.space._agent_points[i, :])
assert i == self.space._agent_to_index[agent]
def test_distance_calculations(self):
'''
Test toroidal distance calculations.
'''
pos_1 = (-30, -30)
pos_2 = (70, 20)
assert self.space.get_distance(pos_1, pos_2) == 0
pos_3 = (-30, -20)
assert self.space.get_distance(pos_1, pos_3) == 10
pos_4 = (20, -5)
pos_5 = (20, -15)
assert self.space.get_distance(pos_4, pos_5) == 10
pos_6 = (-30, -29)
pos_7 = (21, -5)
assert self.space.get_distance(pos_6, pos_7) == np.sqrt(49**2 + 24**2)
def test_heading(self):
pos_1 = (-30, -30)
pos_2 = (70, 20)
self.assertEqual((0, 0), self.space.get_heading(pos_1, pos_2))
pos_1 = (65, -25)
pos_2 = (-25, -25)
self.assertEqual((10, 0), self.space.get_heading(pos_1, pos_2))
def test_neighborhood_retrieval(self):
'''
Test neighborhood retrieval
'''
neighbors_1 = self.space.get_neighbors((-20, -20), 1)
assert len(neighbors_1) == 2
neighbors_2 = self.space.get_neighbors((40, -10), 10)
assert len(neighbors_2) == 0
neighbors_3 = self.space.get_neighbors((-30, -30), 10)
assert len(neighbors_3) == 1
def test_bounds(self):
'''
Test positions outside of boundary
'''
boundary_agents = []
for i, pos in enumerate(OUTSIDE_POSITIONS):
a = MockAgent(len(self.agents) + i, None)
boundary_agents.append(a)
self.space.place_agent(a, pos)
for a, pos in zip(boundary_agents, OUTSIDE_POSITIONS):
adj_pos = self.space.torus_adj(pos)
assert a.pos == adj_pos
a = self.agents[0]
for pos in OUTSIDE_POSITIONS:
assert self.space.out_of_bounds(pos)
self.space.move_agent(a, pos)
class TestSpaceNonToroidal(unittest.TestCase):
"""
Testing a toroidal continuous space.
"""
def setUp(self):
"""
Create a test space and populate with Mock Agents.
"""
self.space = ContinuousSpace(70, 20, False, -30, -30)
self.agents = []
for i, pos in enumerate(TEST_AGENTS):
a = MockAgent(i, None)
self.agents.append(a)
self.space.place_agent(a, pos)
def test_agent_positions(self):
"""
Ensure that the agents are all placed properly.
"""
for i, pos in enumerate(TEST_AGENTS):
a = self.agents[i]
assert a.pos == pos
def test_agent_matching(self):
"""
Ensure that the agents are all placed and indexed properly.
"""
for i, agent in self.space._index_to_agent.items():
assert agent.pos == tuple(self.space._agent_points[i, :])
assert i == self.space._agent_to_index[agent]
def test_distance_calculations(self):
"""
Test toroidal distance calculations.
"""
pos_2 = (70, 20)
pos_3 = (-30, -20)
assert self.space.get_distance(pos_2, pos_3) == 107.70329614269008
def test_heading(self):
pos_1 = (-30, -30)
pos_2 = (70, 20)
self.assertEqual((100, 50), self.space.get_heading(pos_1, pos_2))
pos_1 = (65, -25)
pos_2 = (-25, -25)
self.assertEqual((-90, 0), self.space.get_heading(pos_1, pos_2))
def test_neighborhood_retrieval(self):
"""
Test neighborhood retrieval
"""
neighbors_1 = self.space.get_neighbors((-20, -20), 1)
assert len(neighbors_1) == 2
neighbors_2 = self.space.get_neighbors((40, -10), 10)
assert len(neighbors_2) == 0
neighbors_3 = self.space.get_neighbors((-30, -30), 10)
assert len(neighbors_3) == 0
def test_bounds(self):
"""
Test positions outside of boundary
"""
for i, pos in enumerate(OUTSIDE_POSITIONS):
a = MockAgent(len(self.agents) + i, None)
with self.assertRaises(Exception):
self.space.place_agent(a, pos)
a = self.agents[0]
for pos in OUTSIDE_POSITIONS:
assert self.space.out_of_bounds(pos)
with self.assertRaises(Exception):
self.space.move_agent(a, pos)
class PredatorPreyModel(Model):
def __init__(self,
height=100,
width=100,
init_prey=100,
prey_reproduction=0.03,
init_predator=10,
predator_vision=1,
predator_reproduction=0.5,
predator_death=0.02,
local_offspring=False,
max_iters=500,
seed=None):
super().__init__()
self.height = height
self.width = width
self.init_prey = init_prey
self.prey_reproduction = prey_reproduction
self.init_predator = init_predator
self.predator_vision = predator_vision
self.predator_reproduction = predator_reproduction
self.predator_death = predator_death
self.local_offspring = local_offspring
self.iteration = 0
self.max_iters = max_iters
self.schedule = RandomActivation(self)
self.space = ContinuousSpace(height, width, torus=True)
model_reporters = {
'Prey': lambda model: self.count('Prey'),
'Predator': lambda model: self.count('Predator'),
}
self.datacollector = DataCollector(model_reporters=model_reporters)
# Place prey
for i in range(self.init_prey):
x = self.random.uniform(0, self.width)
y = self.random.uniform(0, self.height)
# next_id() starts at 1
prey = Prey(self.next_id(), self, (x, y), self.prey_reproduction)
self.space.place_agent(prey, (x, y))
self.schedule.add(prey)
# Place predators
for i in range(self.init_predator):
x = self.random.uniform(0, self.width)
y = self.random.uniform(0, self.height)
predator = Predator(self.next_id(), self, (x, y),
self.predator_reproduction,
self.predator_death, self.predator_vision)
self.space.place_agent(predator, (x, y))
self.schedule.add(predator)
self.running = True
self.datacollector.collect(self)
def step(self):
"""
Advance the model by one step and collect data.
Returns
-------
None.
"""
self.schedule.step()
self.iteration += 1
self.datacollector.collect(self)
# Stop system if maximum of iterations is reached
if self.iteration > self.max_iters:
self.running = False
return None
def count(self, breed):
"""
Count agent by breed.
Parameters
----------
breed : string
Breed of agent Can be 'Prey' or 'Predator'.
Returns
-------
count : int
Number of agents of type breed.
"""
count = 0
for agent in self.schedule.agents:
if agent.breed == breed:
count += 1
if breed == 'Predator' and count == 0:
self.running = False
return count
def warm_up(self):
for agent in self.schedule.agents:
if agent.breed == 'Prey':
continue
neighbors = self.space.get_neighbors(agent.pos,
radius=agent.vision)
for prey in neighbors:
if prey.breed == 'Prey':
x = self.random.uniform(0, self.width)
y = self.random.uniform(0, self.height)
self.space.move_agent(prey, (x, y))
class ChaosModel(Model):
'''
The stochastic highway simulation model
'''
#################################################################
## INITIALIZATION FUNCTIONS
#################################################################
def __init__(self,
agent_type,
width=500,
height=500,
num_adversaries=8,
road_width=60,
frozen=True,
epsilon=0,
episode_duration=100,
Q=None,
N=None):
self.num_adversaries = num_adversaries
self.road_width = road_width
self.episode_duration = episode_duration
self.schedule = RandomActivation(self)
self.space = ContinuousSpace(width, height, True)
self.cars = []
self.make_agents(AgentType(agent_type), frozen, epsilon, Q, N)
self.running = True
self.step_count = 0
self.count = 0
self.curr_reward = 0
self.reset()
self.datacollector = DataCollector(
model_reporters={"Agent rewards sum": get_rewards_sum_log})
def agent_start_state(self):
pos = np.array((self.space.x_max / 2, self.space.y_max / 2 + 100))
target_speed = 10
speed = target_speed
heading = np.radians(-90)
return (pos, target_speed, speed, heading)
def reset(self):
(pos, target_speed, speed, heading) = self.agent_start_state()
# speed = util.rand_min_max(target_speed*.8, target_speed*1.2)
# speed = util.rand_min_max(6,14)
# speed = 0
# heading = util.rand_min_max(np.radians(-89),np.radians(-91))
# heading = np.radians(-85)
self.learn_agent.speed = speed
self.learn_agent.heading = heading
self.space.move_agent(self.learn_agent, pos)
self.step_count = 0
self.rewards_sum = -1
def make_adversary(self, unique_id):
# Initial speed and heading
speed = util.rand_min_max(0, 3)
heading = np.radians(-90)
# Randomly add large (blue), medium (orange), or small (green) car
val = random.random()
if val < 0.33:
color = "Blue"
target_speed = util.rand_min_max(2, 4)
width = util.rand_min_max(8, 9)
length = util.rand_min_max(35, 45)
elif val < 0.66:
color = "Orange"
target_speed = util.rand_min_max(3, 6)
width = util.rand_min_max(7, 8)
length = util.rand_min_max(16, 30)
else:
color = "Green"
target_speed = util.rand_min_max(6, 7)
width = util.rand_min_max(5, 6)
length = util.rand_min_max(12, 16)
# Add car to a random position if not overlapping within a margin
# Try (num_adversaries * 2) times before giving up
pos = None
for _ in range(self.num_adversaries * 2):
x = util.rand_center_spread(self.space.x_max / 2, self.road_width)
y = random.uniform(self.space.y_min + 1, self.space.y_max - 1)
if not util.is_overlapping(x, y, width, length, self.cars):
pos = np.array((x, y))
break
if pos is None:
return None
return Car(unique_id,
self,
pos,
speed,
heading,
color,
target_speed=target_speed,
width=width,
length=length)
def make_learn_agent(self, agent_type, unique_id, epsilon, Q, N):
(pos, target_speed, speed, heading) = self.agent_start_state()
width = 6
length = 12
color = "Black"
if agent_type == AgentType.QLEARN:
return QCar(unique_id,
self,
pos,
speed,
heading,
color,
target_speed=target_speed,
length=length,
width=width,
Q=Q,
N=N)
elif agent_type == AgentType.DEEPQ:
return DeepQCar(unique_id,
self,
pos,
speed,
heading,
color,
target_speed=target_speed,
width=width,
length=length,
epsilon=epsilon)
else: # agent_type == AgentType.BASIC
return Car(unique_id,
self,
pos,
speed,
heading,
color,
target_speed=target_speed,
width=width,
length=length)
def make_frozen(self, unique_id):
pos = np.array((self.space.x_max / 2, self.space.y_max / 2))
return Car(unique_id,
self,
pos,
0,
np.radians(-90),
"Indigo",
target_speed=0,
width=6,
length=12)
def make_agents(self, agent_type, frozen, epsilon, Q, N):
'''
Add all agents to model space
'''
# Car agents
for i in range(0, self.num_adversaries + 1):
if i == 0:
car = self.make_learn_agent(agent_type, i, epsilon, Q, N)
elif frozen:
car = self.make_frozen(i)
frozen = False
else:
car = self.make_adversary(i)
if car is None:
print("WARNING: Could only add %d adversaries" % (i - 1))
break
self.cars.append(car)
self.space.place_agent(car, car.pos)
self.schedule.add(car)
# Barriers
x = (self.space.x_max + self.road_width + 10) / 2
self.add_barrier(len(self.cars), x)
self.add_barrier(len(self.cars) + 1, x - self.road_width - 10)
def add_barrier(self, unique_id, x):
y = self.space.y_max / 2
barrier = Barrier(unique_id, self, np.array([x, y]), "Black", 1,
self.space.y_max)
self.schedule.add(barrier)
#################################################################
## RUNNING SIMULATION FUNCTIONS
#################################################################
@property
def learn_agent(self):
return self.cars[0]
def step(self):
self.step_count += 1
if self.step_count > self.episode_duration and \
type(self.learn_agent) is not DeepQCar:
self.reset()
self.datacollector.collect(self)
# First loop through and have all cars choose an action
# before the action is actually propagated forward
for car in self.cars:
car.choose_action()
# Propagate forward one step based on chosen actions
self.schedule.step()
self.curr_reward = self.reward()
self.rewards_sum += self.curr_reward
agent = self.learn_agent
left = (self.space.x_max - self.road_width) / 2
# if type(agent) is DeepQCar and \
# (agent.pos[0] - agent.length / 2 <= left or \
# agent.pos[0] + agent.length / 2 >= left + self.road_width):
# self.running = False
if type(agent) is DeepQCar and \
(agent.pos[0] - agent.length / 2 <= left or \
agent.pos[0] + agent.length / 2 >= left + self.road_width or \
util.is_overlapping(agent.pos[0], agent.pos[1],
agent.width, agent.length,
agent.get_neighbors(), margin=0)):
self.running = False
def reward(self):
agent = self.learn_agent
# heading_cost = np.abs(agent.heading - agent.target_heading) * -2
# steering_cost = np.abs(agent.steer) * -2
# acceleration_cost = np.abs(agent.accel) * -1
vy = -agent.speed * np.sin(agent.heading)
speed_reward = 0
if (vy > agent.target_speed * 1.1):
speed_reward = -20
elif (vy > agent.target_speed * 1.05):
speed_reward = -2
elif (vy > agent.target_speed * 0.90):
speed_reward = 0
else:
speed_reward = -3
# penalizes collisoins from the front more
collision_cost = agent.collided * -500
# Alternate speed reward
speed_reward = np.abs(vy - agent.target_speed) * -1
if speed_reward > -0.5:
speed_reward = 0
elif speed_reward < -agent.target_speed / 2:
speed_reward = -20
# Try to reward position
# pos_cost = 0
# if agent.pos[1] < self.space.y_max/2 - 70 or vy < agent.target_speed/2:
# pos_cost = -10
# print(pos_reward)
# print("speed reward {}, accel cost {}, steer cost {}, collision cost {}".format(
# speed_reward, acceleration_cost, steering_cost, collision_cost))
# return speed_reward + acceleration_cost + steering_cost + \
# collision_cost + heading_cost
# print(speed_reward, collision_cost, heading_cost)
# print(vy, agent.target_speed, speed_reward, collision_cost, a, agent.steer, agent.accel)
return speed_reward + collision_cost
def deepq_reward(self, agent):
left = (self.space.x_max - self.road_width) / 2
# Large negative reward for collision
if agent.pos[0] - agent.length / 2 <= left or \
agent.pos[0] + agent.length / 2 >= left + self.road_width:
return -1
if util.is_overlapping(agent.pos[0],
agent.pos[1],
agent.width,
agent.length,
agent.get_neighbors(),
margin=0):
return -0.5
return 0
# Large positive reward for staying at target speed and heading
# Linearly decreases based on magnitude of difference from actual
# Reward of 0.5 for staying at average (y) speed of all cars
# Assumes target speed > average speed
# Reward of 0.5 for changing lanes within one time step (TEST THIS)
# Assumes actions have no cost, but rather cause cost by changing
# resulting velocity (THIS MAY CHANGE)
average_speed = np.mean([-car.speed * np.sin(car.heading) \
for car in self.cars])
agent_vel = agent.vel_components()
x_cost = abs(agent_vel[0]) / 20
y_cost = abs(-agent_vel[1] - agent.target_speed) / \
(agent.target_speed - average_speed) / 2
return max(1 - x_cost - y_cost, -1)
class TestSpaceToroidal(unittest.TestCase):
'''
Testing a toroidal continuous space.
'''
def setUp(self):
'''
Create a test space and populate with Mock Agents.
'''
self.space = ContinuousSpace(70, 20, True, -30, -30, 100, 100)
self.agents = []
for i, pos in enumerate(TEST_AGENTS):
a = MockAgent(i, None)
self.agents.append(a)
self.space.place_agent(a, pos)
def test_agent_positions(self):
'''
Ensure that the agents are all placed properly.
'''
for i, pos in enumerate(TEST_AGENTS):
a = self.agents[i]
assert a.pos == pos
def test_distance_calculations(self):
'''
Test toroidal distance calculations.
'''
pos_1 = (-30, -30)
pos_2 = (70, 20)
assert self.space.get_distance(pos_1, pos_2) == 0
pos_3 = (-30, -20)
assert self.space.get_distance(pos_1, pos_3) == 10
def test_heading(self):
pos_1 = (-30, -30)
pos_2 = (70, 20)
self.assertEqual((0, 0), self.space.get_heading(pos_1, pos_2))
pos_1 = (65, -25)
pos_2 = (-25, -25)
self.assertEqual((10, 0), self.space.get_heading(pos_1, pos_2))
def test_neighborhood_retrieval(self):
'''
Test neighborhood retrieval
'''
neighbors_1 = self.space.get_neighbors((-20, -20), 1)
assert len(neighbors_1) == 2
neighbors_2 = self.space.get_neighbors((40, -10), 10)
assert len(neighbors_2) == 0
neighbors_3 = self.space.get_neighbors((-30, -30), 10)
assert len(neighbors_3) == 1
def test_bounds(self):
'''
Test positions outside of boundary
'''
boundary_agents = []
for i, pos in enumerate(OUTSIDE_POSITIONS):
a = MockAgent(len(self.agents) + i, None)
boundary_agents.append(a)
self.space.place_agent(a, pos)
for a, pos in zip(boundary_agents, OUTSIDE_POSITIONS):
adj_pos = self.space.torus_adj(pos)
assert a.pos == adj_pos
a = self.agents[0]
for pos in OUTSIDE_POSITIONS:
assert self.space.out_of_bounds(pos)
self.space.move_agent(a, pos)
class TestSpaceNonToroidal(unittest.TestCase):
'''
Testing a toroidal continuous space.
'''
def setUp(self):
'''
Create a test space and populate with Mock Agents.
'''
self.space = ContinuousSpace(70, 20, False, -30, -30)
self.agents = []
for i, pos in enumerate(TEST_AGENTS):
a = MockAgent(i, None)
self.agents.append(a)
self.space.place_agent(a, pos)
def test_agent_positions(self):
'''
Ensure that the agents are all placed properly.
'''
for i, pos in enumerate(TEST_AGENTS):
a = self.agents[i]
assert a.pos == pos
def test_agent_matching(self):
'''
Ensure that the agents are all placed and indexed properly.
'''
for i, agent in self.space._index_to_agent.items():
assert agent.pos == tuple(self.space._agent_points[i, :])
assert i == self.space._agent_to_index[agent]
def test_distance_calculations(self):
'''
Test toroidal distance calculations.
'''
pos_2 = (70, 20)
pos_3 = (-30, -20)
assert self.space.get_distance(pos_2, pos_3) == 107.70329614269008
def test_heading(self):
pos_1 = (-30, -30)
pos_2 = (70, 20)
self.assertEqual((100, 50), self.space.get_heading(pos_1, pos_2))
pos_1 = (65, -25)
pos_2 = (-25, -25)
self.assertEqual((-90, 0), self.space.get_heading(pos_1, pos_2))
def test_neighborhood_retrieval(self):
'''
Test neighborhood retrieval
'''
neighbors_1 = self.space.get_neighbors((-20, -20), 1)
assert len(neighbors_1) == 2
neighbors_2 = self.space.get_neighbors((40, -10), 10)
assert len(neighbors_2) == 0
neighbors_3 = self.space.get_neighbors((-30, -30), 10)
assert len(neighbors_3) == 0
def test_bounds(self):
'''
Test positions outside of boundary
'''
for i, pos in enumerate(OUTSIDE_POSITIONS):
a = MockAgent(len(self.agents) + i, None)
with self.assertRaises(Exception):
self.space.place_agent(a, pos)
a = self.agents[0]
for pos in OUTSIDE_POSITIONS:
assert self.space.out_of_bounds(pos)
with self.assertRaises(Exception):
self.space.move_agent(a, pos)
