Antipodal

In this scenario, all agents are initially equally spaced along a circle, each oriented towards the circle center. They are all tasked to reach the antipodal (i.e., opposing) point along the circle. The scenario tests how the agents cross in the middle. Some behavior let a coordinated swirling pattern emerge which is very efficient.

Initialization

No extra agents or obstacles are created. All agents are placed on a circle and their task is set.

Parameters

orientation_noise:

the standard deviation of the normal distribution added to the orientation at initialization. Set to zero to orient the agents perfectly towards their target. (float, default = 0.0)

position_noise:

the standard deviation of the normal distribution independently added to the x and y coordinates at initialization. Set to zero to place the agents on a perfect circle. (float, default = 0.0)

radius:

the radius of the circle where agents are initially placed (float, default = 1.0)

shuffle:

wheter the agents should be randomly shuffled before placing them on the circle (bool, default = false)

tolerance:

how near to the target point before considering it as reached (float, default = 0.1)

Example

The video has been recorded using

$ navground record_video install/navground_examples_yaml/experiment/antipodal.yaml --factor 5

and a real time simulation can be visualized in a browser using

$ navground run_rt install/navground_examples_yaml/experiment/antipodal.yaml --factor 5

where the experiment is configured like

steps: 1000
time_step: 0.1
save_directory: ''
record_pose: true
scenario:
  type: Antipodal
  position_noise: 0.005
  orientation_noise: 0.01
  radius: 2
  tolerance: 0.2
  groups:
    -
      type: thymio
      number: 20
      radius: 0.1
      control_period: 0.1
      speed_tolerance: 0.01
      kinematics:
        type: 2WDiff
        wheel_axis: 0.094
        max_speed: 0.166
      behavior:
        type: HL
        optimal_speed: 0.08
        horizon: 10.0
        safety_margin: 0.01
      state_estimation:
        type: Bounded
        range: 10.0