Cross Torus

In this scenario, agents follow a target direction (left, right, up, or down). Each direction is followed by one quarter of the agents. The world boundaries are wrapped (like on a torus): when agents pass the border of a square lattice cell (of side side), the are teleported to the opposite side. Agents perception take this wrapping also into account, possibly seeing multiple copies of the same agent on the lattice. Like Cross, the scenario tests how 4 streams of agents cross.

Initialization

No extra agents or obstacles are created. Agents are uniformly initialized inside the lattice cell, avoiding that they overlap.

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 size of the squared lattice cell (float, default = 2.0).

Example

The video has been recorded using

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

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

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

where the experiment is configured like

steps: 1000
time_step: 0.1
save_directory: ''
record_pose: true
scenario:
  type: CrossTorus
  agent_margin: 0.1
  side: 4
  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