- Group ID: 13
- Localization: Nicola Santacroce (286331)
- High-level control
- Flocking: Qi Yan (307457)
- Formation: Yujie He (321657)
- PSO: Jianhao Zheng (323146)
-
gsllibrary is required for matrix computation. To install at Ubuntu:sudo apt-get install libgsl-dev
-
Code structure
├── controller_world # Main code │ ├── controllers # Controllers │ │ ├── flocking_crossing_controller │ │ ├── flocking_obstacle_controller │ │ ├── formation_graph_crossing_controller │ │ ├── formation_graph_obstacle_controller │ │ └── supervisor │ └── worlds # Default testing world ├── localization_library # Shared localization utilities ├── Matlab # Visualization utilities │ ├── localization # Localization result visualization │ └── metric_computation # Flocking result visualization └── supplemental # Supplemental code, *not* necessary for metrics evaluation ├── controllers │ ├── crossing_pso_controller # PSO │ ├── obstacle_pso_controller # PSO │ ├── pso_crossing_supervisor # PSO │ ├── pso_obstacle_supervisor # PSO │ ├── localization_controller # Localization │ └── localization_supervisor # Localization └── worlds # Ad-hoc worlds
/controller_world/worlds/test_obstacles.wbt: The supervisor name need to be modified tosuper0/controller_world/worlds/test_crossing.wbt: None
- set controller of each supervisor to be
supervisor(same for both two scenarios) - metric at each time step will be saved in
flocking_metrics0.csv(the number depends on which group) - copy the data and run
Matlab/metric_computation/cal_single_avg_metric.min MATLAB will compute the average metric along the duration time.
/controller_world/worlds/test_obstacles.wbt: set all robot controllers to beflocking_obstacle_controller./controller_world/worlds/test_crossing.wbt: set all robot controllers to beflocking_crossing_controller.
- The usage is similar to the flocking controllers.
- If you are interested, you can open the world in "test_crossing_pso.wbt" and "test_obstacles_pso.wbt" in the "supplemental/worlds" folder. No modification is necessary for the world, just compile the controller and you can run the simulation to start PSO.
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