Periodic Crossing#
We look at another type of crossing scenario, where the agents move in a periodic world
type: CrossTorus
agent_margin: 0.1
side: 2
groups:
-
type: thymio
number: 10
radius: 0.1
control_period: 0.1
speed_tolerance: 0.02
kinematics:
type: 2WDiff
wheel_axis: 0.094
max_speed: 0.12
like a squared periodic “plaza” where agents coming from four different streams cross.
We use the same sensor as in the Crossing tutorial.
type: Discs
number: 5
range: 1.0
max_speed: 0.12
max_radius: 0
In two notebooks, we train a policy using Reinforcement Learning to navigate this scenario: at first when all agents share the same target speed, and then when they have individual target speeds.