swarm_tasks.utils.robot.DEFAULT_SIZE = 0.4
swarm_tasks.utils.robot.MAX_SPEED = 1.5
swarm_tasks.utils.robot.MAX_ANGULAR: 1
np.random.seed(10)
random.seed(10)
from swarm_tasks.simulation import simulation as sim
from swarm_tasks.simulation import visualizer as viz
from swarm_tasks.simulation import scenarios
import swarm_tasks.utils as utils
import swarm_tasks.controllers.base_control as base_control
from swarm_tasks.tasks import foraging as frg
s = sim.Simulation(num_bots=20, env_name='empty_world')
gui = viz.Gui(s)
gui.show_env()
gui.show_bots()
while 1:
for b in s.swarm:
cmd = frg.gather_resources(b)
cmd.exec(b)
scenarios.movable_resources(s, 5)
gui.update()
s.time_elapsed += 1
from swarm_tasks.simulation import simulation as sim
from swarm_tasks.simulation import visualizer as viz
import swarm_tasks.utils as utils
import swarm_tasks.envs as envs
import swarm_tasks.controllers as ctrl
import swarm_tasks.controllers.potential_field as potf
import swarm_tasks.controllers.base_control as base_control
from swarm_tasks.tasks import area_coverage as cvg
import numpy as np
s = sim.Simulation(num_bots=10,
env_name='rectangles',
contents_file='attractors')
gui = viz.Gui(s)
gui.show_env()
gui.show_bots()
gui.show_grid()
while 1:
for b in s.swarm:
cmd = cvg.disp_exp_area_cvg(b)
cmd.exec(b)
s.update_grid()
gui.show_grid()
swarm_tasks.utils.robot.DEFAULT_NEIGHBOURHOOD_VAL = 6
swarm_tasks.utils.robot.DEFAULT_SIZE = 0.4
swarm_tasks.utils.robot.MAX_SPEED = 1.5
swarm_tasks.utils.robot.MAX_ANGULAR: 0.3
np.random.seed(42)
random.seed(42)
from swarm_tasks.simulation import simulation as sim
from swarm_tasks.simulation import visualizer as viz
#Required modules
import swarm_tasks.controllers.base_control as base_control
from swarm_tasks.modules.aggregation import aggr_centroid
#Initialize Simulation and GUI
s = sim.Simulation(env_name='rectangles')
gui = viz.Gui(s)
gui.show_env()
while (1):
for b in s.swarm:
#Base control
cmd = base_control.base_control(b)
cmd += base_control.obstacle_avoidance(b)
#Behaviour
cmd += aggr_centroid(b)
#Execute
cmd.exec(b)
from swarm_tasks.modules.aggregation import aggr_centroid, aggr_field from swarm_tasks.modules.dispersion import disp_field from swarm_tasks.modules.formations import circle from swarm_tasks.modules.formations import line from swarm_tasks.modules.surround import surround_attractor from swarm_tasks.modules import exploration as exp from swarm_tasks.modules import follow from swarm_tasks.modules import decisions import swarm_tasks.utils.logging as logging import numpy as np s = sim.Simulation(env_name='empty_world', contents_file='attractors') #s = sim.Simulation(env_name='rectangles', contents_file='attractors') #s = sim.Simulation(env_name='empty_world') #s = sim.Simulation(num_bots=15,env_name='empty_world', contents_file='attractors') #s = sim.Simulation(num_bots=20, env_name='rectangles', contents_file='attractors',\ #num_initial_states =2) gui = viz.Gui(s) gui.show_env() gui.show_bots() #s.swarm[0].set_goal(6,1) #gui.show_grid()
swarm_tasks.utils.robot.MAX_SPEED = 1.5
swarm_tasks.utils.robot.MAX_ANGULAR: 0.3
np.random.seed(42)
random.seed(42)
CIRCLE_RADIUS = 4
from swarm_tasks.simulation import simulation as sim
from swarm_tasks.simulation import visualizer as viz
#Required modules
import swarm_tasks.controllers.base_control as base_control
from swarm_tasks.modules.formations import circle
#Initialize Simulation and GUI
s = sim.Simulation(num_bots=15,
env_name='empty_world',
contents_file='attractors')
gui = viz.Gui(s)
gui.show_env()
while (1):
for b in s.swarm:
#Base control
cmd = base_control.base_control(b)
cmd += base_control.obstacle_avoidance(b)
#Behaviour
cmd += circle(b, CIRCLE_RADIUS)
#Execute
cmd.exec(b)
swarm_tasks.utils.robot.MAX_SPEED = 1.5
swarm_tasks.utils.robot.MAX_ANGULAR: 1
np.random.seed(42)
random.seed(42)
from swarm_tasks.simulation import simulation as sim
from swarm_tasks.simulation import visualizer as viz
from swarm_tasks.simulation import scenarios
import swarm_tasks.utils as utils
from swarm_tasks.tasks import remove_contamination as remcon
import numpy as np
s = sim.Simulation(num_bots=15, env_name='rectangles')
gui = viz.Gui(s)
gui.show_env()
gui.show_bots()
while 1:
for b in s.swarm:
cmd = remcon.remove_contamination(b)
cmd.exec(b)
scenarios.contaminations(s, 0.0025, 40) #0.004 for 20 bots
gui.update()
s.time_elapsed += 1
swarm_tasks.utils.robot.DEFAULT_SIZE = 0.4
swarm_tasks.utils.robot.MAX_SPEED = 1.5
swarm_tasks.utils.robot.MAX_ANGULAR: 0.3
np.random.seed(42)
random.seed(42)
from swarm_tasks.simulation import simulation as sim
from swarm_tasks.simulation import visualizer as viz
#Required modules
import swarm_tasks.controllers.base_control as base_control
from swarm_tasks.modules.dispersion import disp_field
from swarm_tasks.modules.surround import surround_attractor
#Initialize Simulation and GUI
s = sim.Simulation(env_name='rectangles', contents_file='attractors')
gui = viz.Gui(s)
gui.show_env()
while (1):
for b in s.swarm:
#Base control
cmd = base_control.base_control(b)
cmd += base_control.obstacle_avoidance(b)
#Behaviour
cmd += disp_field(b) * 0.05
cmd += surround_attractor(b)
#Execute
cmd.exec(b)