def set_up(time, r, b):
global counter
counter = 1
global finished
finished = False
swarm_group = swarm(r)
box_group = boxes(b, swarm_group)
warehouse_map = warehouse.map()
warehouse_map.warehouse_map(width, height)
warehouse_map.gen()
swarm_group.map = warehouse_map
swarm_group.robot_iterate(box_group)
box_group.box_iterate(swarm_group)
while counter <= time:
if finished == False:
swarm_group.robot_iterate(box_group)
if finished == False:
box_group.box_iterate(swarm_group)
if finished == True:
return (1, counter)
exit()
sr = 0
for i in range(b):
if box_group.delivered[i] == True:
sr += 1
if sr > 0:
sr = int(sr / b)
return (sr, counter)
def set_up(time,r,b): #global counter #counter = 1 #global finished #finished = False swarm_group = swarm(r) box_group = boxes(b,swarm_group) warehouse_map = warehouse.map() warehouse_map.warehouse_map(width,height) warehouse_map.gen() swarm_group.map = warehouse_map swarm_group.robot_iterate(box_group) box_group.box_iterate(swarm_group) while swarm_group.counter <= time: if False in box_group.delivered: swarm_group.robot_iterate(box_group) if False in box_group.delivered: box_group.box_iterate(swarm_group) if False not in box_group.delivered: print(box_group.box_times) return (1,swarm_group.counter) exit() sr = 0 print(box_group.box_times) for i in range(b): if box_group.delivered[i] == True: sr += 1 if sr > 0: sr = float(sr/b) return (sr,swarm_group.counter)
def set_up(time, r, b):
global counter
counter = 1
global finished
finished = False
num_agents = r
num_boxes = b
swarm_group = swarm(num_agents)
box_group = boxes(num_boxes)
swarm_group.gen_agents()
box_group.check_for_boxes_set_up(swarm_group)
box_group.check_for_boxes(swarm_group)
warehouse_map = warehouse.map()
warehouse_map.warehouse_map(width, height)
warehouse_map.gen()
swarm_group.map = warehouse_map
swarm_group.iterate(box_group)
box_group.iterate(swarm_group)
while counter <= time:
swarm_group.iterate(box_group)
box_group.iterate(swarm_group)
if finished == True:
return (1.0, counter)
exit()
sr = 0
for i in range(num_boxes):
if box_group.delivered[i] == True:
sr += 1
if sr > 0:
sr = sr / num_boxes
return (sr, counter)
def set_up(time, r, b):
global counter
counter = 1
global finished
finished = False
num_agents = r
num_boxes = b
swarm_group = swarm(num_agents)
box_group = boxes(num_boxes)
swarm_group.gen_agents()
box_group.check_for_boxes_set_up(swarm_group)
box_group.check_for_boxes(swarm_group)
warehouse_map = warehouse.map()
warehouse_map.warehouse_map(width, height)
warehouse_map.gen()
swarm_group.map = warehouse_map
swarm_group.robot_iterate(box_group)
box_group.box_iterate(swarm_group)
while counter <= time:
swarm_group.robot_iterate(box_group)
box_group.box_iterate(swarm_group)
if finished == True:
return counter
exit()
return time
def __init__(self,num_agents,anim,limit):
self.num_agents = num_agents
self.robots = swarm(self.num_agents)
self.time = limit
self.anim = anim
self.counter = 0
warehouse_map = warehouse.map()
warehouse_map.warehouse_map(width,height)
warehouse_map.gen()
self.robots.map = warehouse_map
self.data_collect()
def __init__(self,num_agents,num_boxes,anim,limit): self.num_agents = num_agents self.num_boxes = num_boxes self.robots = swarm(self.num_agents) self.items = boxes(self.num_boxes,self.robots) self.time = limit self.anim = anim warehouse_map = warehouse.map() warehouse_map.warehouse_map(width,height) warehouse_map.gen() self.robots.map = warehouse_map self.data_collect()
def __init__(self, num_agents, anim, limit, vertical_value):
self.num_agents = num_agents
self.robots = swarm(self.num_agents)
self.time = limit
self.anim = anim
self.counter = 0
self.new_square = square()
self.absolute_value = vertical_value
warehouse_map = warehouse.map()
warehouse_map.warehouse_map(width, height)
warehouse_map.gen()
self.robots.map = warehouse_map
self.data_collect()
def run(num_box):
#n = int(sys.argv[1]) # num of robots
#b = int(sys.argv[2]) # num of boxes
b = num_box
num_trials = 5
time_for_trial = 10000
time_taken_dict = {}
for n in range(5,150,5):
time_taken_dict[n] = time_for_trial
for trial in range(num_trials):
time_taken = 0.
boxes_delivered = []
collecting_robot_numbers = []
box_to_collect_num = []
average_time = []
num_box_del = 0.
swarm_group = swarm(n)
box_group = boxes(b)
this_swarm = swarm_group
this_swarm.gen_agents()
warehouse_map = warehouse.map() # call the warehouse script to generate the warehouse walls
warehouse_map.warehouse_map(width,height) # create a warehouse of size width by height (as seen from bove). Width and height are both declared at the start of the code by the variables 'width' and 'height'
warehouse_map.gen() # generates the wall obstacles and limits
this_swarm.map = warehouse_map # declares the warhouse as the map that the swarm is in
these_boxes = box_group
these_boxes.check_for_boxes_set_up(this_swarm)
these_boxes.check_for_boxes(this_swarm)
for t in range(time_for_trial):
this_swarm.iterate(these_boxes)
num_box_delivered = these_boxes.iterate(this_swarm)
num_box_del = num_box_delivered.count(True)
if num_box_del == these_boxes.num_boxes:
num_box_del = 0
average_time.append(t)
break
if t == time_for_trial-1 and num_box_del < these_boxes.num_boxes:
average_time.append(time_for_trial)
average_time.append(time_for_trial)
time_a = np.median(average_time)
time_taken_dict[n] = time_a
boxes_delivered.append(num_box_del)
#robot_dict[rob] = num_box_del
return time_taken_dict
def set_up(time, r, b, p):
swarm_group = swarm(r, p)
box_group = boxes(b, swarm_group)
warehouse_map = warehouse.map()
warehouse_map.warehouse_map(width, height)
warehouse_map.gen()
swarm_group.map = warehouse_map
swarm_group.iterate(box_group)
while swarm_group.counter <= time:
swarm_group.iterate(box_group)
if box_group.delivered == box_group.num_boxes:
return (1, swarm_group.counter)
exit()
sr = box_group.delivered
#print(box_group.box_times)
if sr > 0:
sr = float(sr / box_group.num_boxes)
return (sr, swarm_group.counter)
def set_up(time, r, b):
global counter
counter = 1
global finished
finished = False
swarm_group = swarm(r)
box_group = boxes(b, swarm_group)
warehouse_map = warehouse.map()
warehouse_map.warehouse_map(width, height)
warehouse_map.gen()
swarm_group.map = warehouse_map
swarm_group.robot_iterate(box_group)
box_group.box_iterate(swarm_group)
rob_positions_x = []
rob_positions_y = []
box_positions_x = []
box_positions_y = []
while counter <= time:
if finished == False:
swarm_group.robot_iterate(box_group)
rob_positions_x.append(swarm_group.rob_c.T[0])
rob_positions_y.append(swarm_group.rob_c.T[1])
if finished == False:
box_group.box_iterate(swarm_group)
box_positions_x.append(box_group.box_c.T[0])
box_positions_y.append(box_group.box_c.T[1])
if finished == True:
return (rob_positions_x, rob_positions_y, box_positions_x,
box_positions_y)
exit()
return (rob_positions_x, rob_positions_y, box_positions_x, box_positions_y)
exit() sr = 0 print(box_group.box_times) for i in range(b): if box_group.delivered[i] == True: sr += 1 if sr > 0: sr = float(sr/b) return (sr,swarm_group.counter) if ani == True: swarm = swarm(num_agents) boxes = boxes(num_boxes,swarm) warehouse_map = warehouse.map() warehouse_map.warehouse_map(width,height) warehouse_map.gen() swarm.map = warehouse_map swarm.robot_iterate(boxes) boxes.box_iterate(swarm) fig = plt.figure() ax = plt.axes(xlim=(0, width), ylim=(0, height)) dot, = ax.plot([swarm.rob_c[i,0] for i in range(swarm.num_agents)],[swarm.rob_c[i,1] for i in range(num_agents)], 'ko', markersize = marker_size, fillstyle = 'none') box, = ax.plot([boxes.box_c[i,0] for i in range(boxes.num_boxes)],[boxes.box_c[i,1] for i in range(boxes.num_boxes)], 'rs', markersize = marker_size-5) seq, = ax.plot([boxes.box_c[0,0]],[boxes.box_c[0,1]],'ks',markersize = marker_size-5)
