simultaneous-decision-and-response

Simultaneous decision and response in a collective system using swarm robotics and collective decision making in a fire evacuation scenario.

Dependencies:

sudo apt install cmake libfreeimage-dev libfreeimageplus-dev \
qt5-default freeglut3-dev libxi-dev libxmu-dev liblua5.3-dev \
lua5.3

ARGoS installation:

Download the appropriate ARGoS package for your system here and follow the installation instructions. Afterwards continue with these steps. You can optionally execute the following 3 commands, to give the simulator GUI a proper desktop desktop icon:

sudo chmod o+w /usr/local/share/applications/argos3.desktop
echo "Icon=gnome-robots.png" >> /usr/local/share/applications/argos3.desktop
sudo chmod o-w /usr/local/share/applications/argos3.desktop

Clone repository:

git clone https://github.com/WoutProvost/simultaneous-decision-and-response
cd simultaneous-decision-and-response

Compilation:

mkdir frames logs build
cd build
cmake ..
make

Plot application installation:

sudo cp src/plot/coldecplot /usr/local/bin
sudo cp ../src/plot/autocomplete.sh /etc/bash_completion.d/coldecplot
sudo cp ../src/plot/coldecplot.desktop /usr/local/share/applications
sudo cp ../src/plot/coldecplot.1 /usr/local/share/man/man1
sudo gzip -f /usr/local/share/man/man1/coldecplot.1

Seed application installation:

sudo cp src/seed/coldecseed /usr/local/bin
sudo cp ../src/seed/autocomplete.sh /etc/bash_completion.d/coldecseed
sudo cp ../src/seed/coldecseed.1 /usr/local/share/man/man1
sudo gzip -f /usr/local/share/man/man1/coldecseed.1

Execution:

argos3 -c ../experiments/fire_evacuation.argos
man coldecplot
man coldecseed

Run experiments in bulk:

cd ../experiments
for f in *.argos; do coldecseed -n 30 "$f"; done
nohup parallel --delay 0.5 argos3 -c {1} ::: *.argos &

Show results in bulk:

cd ../logs
for f in *.csv; do coldecplot "$f"; done

Configuration:

Controller appearance params:

• leds_color: Defaults to black.
• debug_show_preference: Defaults to false.

Controller movement params:

• max_velocity: Defaults to 10.0.
• max_heading_angle_for_no_turn: Defaults to 10.0.
• min_heading_angle_for_hard_turn: Defaults to 90.0.
• random_turn_ticks:
  • A value of 0 disables turning to a random direction after a configured amount of ticks.
  • Defaults to 100.

Controller collision_avoidance params:

• max_angle_between_heading_and_obstacle: Defaults to 5.0.
• max_obstacle_proximity: Defaults to 0.1.

Temperature sensing controller decision_strategy params:

• mode:
  • Mode plurality uses the exit with the most votes as long as there is no ex aequo.
  • Mode majority uses the exit with more than 50% of the votes.
  • Mode quality uses the exit with the best average quality as long as there is no ex aequo.
  • Mode random uses the exit of a random neighbor.
  • Defaults to none.
• check_for_fire_criticality:
  • Doesn't support multiple fires when disabled.
  • Defaults to true.

Gate gripping controller reaction_strategy params:

• min_agreement_percentage: Defaults to 0.8.
• min_duration_ticks: Defaults to 300.

Loop functions nest params:

• size:
  • The value is a list of 2 widths, one for each dimension, separated by a comma.
  • Defaults to 15,15.

Loop functions heatmap params:

• tiles_per_meter: Defaults to 6.
• max_temperature:
  • Maximum of 255, since the grayscale color range and UInt8 range is [0, 255].
  • Defaults to 255.
• debug_mode:
  • Mode gradient is useful to show the whole temperature range in terms of steps.
  • Mode resolution is useful to show how large the tiles are compared to the robots.
  • Defaults to none.
• debug_use_colors:
  • The simulation only works with grayscale, so make sure to disable color after debugging.
  • Defaults to false.

Loop functions fire params:

• sources: Defaults to 1.
• positionX:
  • The X can be a number from 1 to the amount of sources.
  • Each source can be controlled independently by its own attribute.
  • The value is a list of 2 nest coordinates separated by a comma.
  • If the value provided is outside the nest, the source falls back to a random position in the nest.
  • For a nest size of e.g. 15 meters along one axis, the valid range is [-7.5:7.49] and not [-7.5:7.5].
  • Defaults to a random position in the nest.
• circle_radius: Defaults to 3.0.

Loop functions log params:

• file: Defaults to ../logs/log.csv.
• disable: Defaults to false.

User functions divider params:

• enable_horizontal: Defaults to true.
• enable_vertical: Defaults to false.

Plot application uninstallation:

sudo rm -rf /usr/local/bin/coldecplot
sudo rm -rf /etc/bash_completion.d/coldecplot
sudo rm -rf /usr/local/share/applications/coldecplot.desktop
sudo rm -rf /usr/local/share/man/man1/coldecplot.1

Seed application uninstallation:

sudo rm -rf /usr/local/bin/coldecseed
sudo rm -rf /etc/bash_completion.d/coldecseed
sudo rm -rf /usr/local/share/man/man1/coldecseed.1