DIS project code

Teamwork

• Group ID: 13

• Localization: Nicola Santacroce (286331)
• High-level control
  • Flocking: Qi Yan (307457)
  • Formation: Yujie He (321657)
  • PSO: Jianhao Zheng (323146)

Getting started

• gsl library 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

Modification of webots world

• /controller_world/worlds/test_obstacles.wbt: The supervisor name need to be modified to super0
• /controller_world/worlds/test_crossing.wbt: None

Run supervisor

• 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.m in MATLAB will compute the average metric along the duration time.

Flocking controllers

• /controller_world/worlds/test_obstacles.wbt: set all robot controllers to be flocking_obstacle_controller.
• /controller_world/worlds/test_crossing.wbt: set all robot controllers to be flocking_crossing_controller.

Formation controllers

• The usage is similar to the flocking controllers.

PSO

• 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.