An implementation of the paper "Multi-Robot Exploration Under the Constraints of Wireless Networking" in Python
In order to run the code, dowload all the files in the repository and execute
$ python demo.py
For a better understanding of the commandline arguments or creating a configuration file of your own, refer to demo.py and gridworld1.config
The following variables would be of particular interest to those who wish to test the implementation in various scenarios.
height - corresponds to the height of the grid world
width - corresponds to the width of the grid world
numRobots - corresponds to the number of robots
obstacles - corresponds to the list of cells that belong to the class of obstacles
initLocs - corresponds to the list of initial positions of each of the robots
R - corresponds to the communication radius (range) of each of the robots; R is same for all the robots
base - corresponds to the coordinates of the base station
T - corresponds to the number of time steps for which robots should explore
k - corresponds to the size of the population of configuration changes that need to be considered