Boundary

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Boundary#

A simple sensor that update the “boundary” field of a sensing environment state with the distance from the agent to the boundary. Use Lidar when a more realistic alternative is required.

Example#

The video has been recorded in the Sensors notebook with the following configuration

steps: 200
time_step: 0.1
record_pose: true
scenario:
  bounding_box:
    min_y: 0
    max_y: 2
    min_x: -1
    max_x: 5
  groups:
    - type: thymio
      color: darkcyan
      number: 1
      radius: 0.25
      control_period: 0.1
      orientation: 0
      position: [0, 0.5]
      kinematics:
        type: 2WDiff
        max_speed: 1.0
        wheel_axis: 0.5
      behavior:
        type: StayAwayFromBoundary
        optimal_speed: 0.25
        safety_margin: 0.1
      task:
        type: Direction
        direction: [1, 1]
      state_estimation:
        type: Boundary
        min_y: 0
        max_y: 2
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