Geometric with limited range

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Geometric with limited range#

The state estimation updating a symbolic environment state composed of lists of neighbors, obstacles, and lines, as observed a limited range around the agent.

Example#

The video has been recorded using

$ navground_py record_video bounded.yaml bounded.mp4 --factor 5 --width 1280

with the following configuration

steps: 1000
time_step: 0.1
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
      color: [gold, grey]
      behavior:
        type: ORCA
        optimal_speed: 0.12
        horizon: 5.0
        safety_margin: 0.02
      state_estimation:
        type: Bounded
        range: [5.0, 0.25]
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