Cross

In this scenario, there are 4 target waypoints located at (-side/2, 0), (side/2, 0), (0, -side/2), and (0, side/2). Half of the agents are tasked to pendle between the two vertically aligned waypoints, and half between the horizontally aligned waypoints. The scenario tests how agents cross in the middle, where the 4 opposing flows meets.

Initialization

No extra agents or obstacles are created. Agents are uniformly initialized inside the area, avoiding that they overlap. Agents tasks are setup to go back and forth between opposing target points.

Parameters

agent_margin:

the minimal distance between agents at initialization (float, default = 0.1).

add_safety_to_agent_margin:

Wheter to add the agent safety margin to the minimal distance between agents at initialization (float, bool = true).

side:

the distance between opposing targets (float, default = 2.0).

target_margin:

the minimal distance between agent and target at initialization (float, default = 0.5).

tolerance:

how near to the target point before considering it as reached (float, default = 0.25).

Example

The video has been recorded using

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

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

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

where the experiment is configured like

steps: 1000
time_step: 0.1
save_directory: ''
record_pose: true
scenario:
  type: Cross
  agent_margin: 0.1
  side: 4
  target_margin: 0.1
  tolerance: 0.5
  groups:
    -
      type: thymio
      number: 20
      radius: 0.08
      control_period: 0.1
      speed_tolerance: 0.02
      kinematics:
        type: 2WDiff
        wheel_axis: 0.094
        max_speed: 0.166
      behavior:
        type: HL
        optimal_speed: 0.12
        horizon: 5.0
        safety_margin: 0.02
      state_estimation:
        type: Bounded
        range: 5.0