# [0]: Fraction of N still alive (1 means no collision)
# [1]: Fraction of still alive Mobot’s in the largest connected component (1 means all connected)
# [2]: Cohesion radius (maximum distance to centroid) divided by sqrt(N) * ”good distance”
# [3]: Average square (error to “good distance” divided by “good distance”)
# [4]: Effect of steering vector components
# [5]: ...
# [6]: ...
# [7]: ...
#p=KPIdata(name,7,TS)
N = 50
period = 0.1
total_time = 5 * 60
steps = int(total_time / period)
s.spawn_bodies(N, room=[(-4, -4), (4, -4), (4, 4), (-4, 4)])
for b in s.bodies:
if isinstance(b, Mobot):
Boid(b, s, R, 0.1 * TS) # ADD YOUR ARGUMENTS
data_gather = []
KPI = [0, 0, 0, 0, 0, 0, 0, 0]
for i in tqdm(range(steps + 1)):
# KPI[2]
centroid_pos = Point2D(0.0, 0.0)
for b in s.bodies:
if isinstance(b, MoBody):
b.update()
s.update_dist()
p = KPIdata(name, 2, TS)
# a big nest in the second quadrant:
bignest = Nest('BigNest',
pos=(uniform(-0.8 * W, -0.2 * W), uniform(0.4 * H,
0.6 * H)),
area=0.02,
fc=(0, 0, 1))
smallnest = Nest('SmallNest',
pos=(uniform(0.8 * W,
0.2 * W), uniform(-0.4 * H, -0.6 * H)),
area=0.04,
fc=(1, 0, 0)) #
s.bodies.append(bignest)
s.bodies.append(smallnest)
N = 100
s.spawn_bodies(nm=N)
for b in s.bodies:
if isinstance(b, Mobot):
b.cmd_vel(v=b.v_max / 2)
# a new Soul for b (who assigns new Knowledge too)
Demo(b, s, TS / 10, r=2, rng=np.pi / 2)
b.knows.set_state('Random_Walk')
# [ fraction of live mobots who know ThereAreNests , fraction of initial robots still alive ]
KPI = [0, 1]
end = False
numero = 0
while not end:
numero = numero + 1
for b in s.bodies:
if isinstance(b, Mobot):
## License: CC-BY-SA
from time import time_ns, time, localtime, strftime
import numpy as np
from random import uniform
from matplotlib.animation import FFMpegWriter # requires having ffmpeg installed, from https://ffmpeg.org/
from small_worl2d_config import visual, TS, RT, room
from small_worl2d import Space, KPIdata, Mobot, Voronoid
## MAIN
name = 'BasicVoronoids' + strftime("%Y%m%d%H%M", localtime())
s = Space(name, T=RT, R=0, limits='') # No comm
p = KPIdata(name, 1, 2 * TS)
s.spawn_bodies(100) # Mobots only
for b in s.bodies:
if isinstance(b, Mobot):
Voronoid(
b, s, 5, T=uniform(TS, 2 * TS), Q=room
) # rng=uniform(0.75*np.pi,0.95*np.pi) would be WithoutRearView
KPI = [1]
end = False
while not end:
for b in s.bodies:
if isinstance(b, Mobot):
b.update()
s.update_dist()
s.remobodies(s.collisions())
s.update_conn()
if visual and time() > s.t0 + (s.updates + 1) * s.T: