2020-swarm-intelligence-segregation
Segregation of Multiple Heterogeneous Units in a Robotic Swarm.
This repository contains the code for control algorithm describe in the paper:
Spatial segregative behaviors in robotic swarms using differential potentials
Dependencies
- python3
- matplotlib
- numpy
- scipy
- argparse
- progressbar
- termcolor
How to execute
$ python3 start.py --help
usage: start.py [-h] [--robots ROBOTS] [--groups GROUPS]
[--iterations ITERATIONS] [--behavior BEHAVIOR]
[--steps STEPS] [--world WORLD] [--alpha ALPHA] [--dAA DAA]
[--dAB DAB] [--noise_sensor NOISE_SENSOR]
[--noise_actuation NOISE_ACTUATION]
[--sensing_radius SENSING_RADIUS] [--seed SEED]
Segregation using potential differential.
optional arguments:
-h, --help show this help message and exit
--robots ROBOTS Total number of robots.
--groups GROUPS Total number of group of robots.
--iterations ITERATIONS
Total number of iterations on the control.
--behavior BEHAVIOR Choice between cluster (default) and radial
--steps STEPS Time-step on the control.
--world WORLD Size of the enviroment in meters
--alpha ALPHA Control gain. See the paper for more information.
--dAA DAA Same-type robot interaction factor. See the paper for
more information.
--dAB DAB Differente-type robot interaction factor. See the
paper for more information.
--noise_sensor NOISE_SENSOR
Add gaussian noise (max 1.0) on sensor model.
--noise_actuation NOISE_ACTUATION
Add gaussian noise (max 1.0) on actuator model.
--sensing_radius SENSING_RADIUS
Limit the sensing radius.
--seed SEED Random seed.Example of use
Cluster behavior
$ python3 start.py --robots 50 --groups 5 --iterations 500 --world 20 --dAA 5 --dAB 7.5 --behavior "cluster"
Radial behavior
$ python3 start.py --robots 50 --groups 5 --iterations 500 --world 20 --dAA 5 --dAB 7.5 --behavior "radial"
How to cite this work
@article{santos2020spatial,
title={Spatial segregative behaviors in robotic swarms using differential potentials},
author={Santos, Vinicius G and Pires, Anderson G and Alitappeh, Reza J and Rezeck, Paulo AF and Pimenta, Luciano CA and Macharet, Douglas G and Chaimowicz, Luiz},
journal={Swarm Intelligence},
volume={14},
number={4},
pages={259--284},
year={2020},
publisher={Springer}
}