ARGoS Example

flocking.argos

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<?xml version="1.0" ?>
<argos-configuration>
 
  <!-- ************************* -->
  <!-- * General configuration * -->
  <!-- ************************* -->
  <framework>
    <system threads="0" />
    <experiment length="0"
                ticks_per_second="10"
                random_seed="124" />
  </framework>
 
  <!-- *************** -->
  <!-- * Controllers * -->
  <!-- *************** -->
  <controllers>
 
    <footbot_flocking_controller id="ffc"
                                 library="build/controllers/footbot_flocking/libfootbot_flocking">
      <actuators>
        <differential_steering implementation="default" />
        <leds                  implementation="default" medium="leds" />
      </actuators>
      <sensors>
        <footbot_light                       implementation="rot_z_only" show_rays="true" />
        <colored_blob_omnidirectional_camera implementation="rot_z_only" medium="leds" show_rays="true" />
      </sensors>
      <params>
        <wheel_turning hard_turn_angle_threshold="90"
                       soft_turn_angle_threshold="70"
                       no_turn_angle_threshold="10"
                       max_speed="10" />
        <flocking target_distance="75"
                  gain="1000"
                  exponent="2" />
      </params>
    </footbot_flocking_controller>
 
  </controllers>
 
  <!-- *********************** -->
  <!-- * Arena configuration * -->
  <!-- *********************** -->
  <arena size="30,30,1" center="0,0,0.5">
 
    <light id="light"
           position="8.9,2.7,0.5"
           orientation="0,0,0"
           color="yellow"
           intensity="3.0"
           medium="leds" />
 
    <!--
        You can distribute entities randomly. Here, we distribute
        the entities in this way:
        - the position is uniformly distributed on the ground, in the
          square whose corners are (4,4) and (5,5)
        - the orientations are non-zero only when rotating around Z and
          chosen from a gaussian distribution, whose mean is zero degrees
          and standard deviation is 360 degrees.
    -->
 
    <foot-bot id="fb0" omnidirectional_camera_aperture="80">
        <body position="1.1,2.5,0" orientation="0,0,0" />
        <controller config="ffc" />
    </foot-bot>
 
    <foot-bot id="fb1" omnidirectional_camera_aperture="80">
        <body position="2.4,3.7,0" orientation="0,0,0" />
        <controller config="ffc" />
    </foot-bot>
 
    <foot-bot id="fb2" omnidirectional_camera_aperture="80">
        <body position="2.3,1.3,0" orientation="0,0,0" />
        <controller config="ffc" />
    </foot-bot>
 
    <foot-bot id="fb3" omnidirectional_camera_aperture="80">
        <body position="3.5,2.4,0" orientation="0,0,0" />
        <controller config="ffc" />
    </foot-bot>
 
    <!--
    <distribute>
      <position method="uniform" min="4,4,0" max="5,5,0" />
      <orientation method="gaussian" mean="0,0,0" std_dev="360,0,0" />
      <entity quantity="10" max_trials="100">
        <foot-bot id="fb" omnidirectional_camera_aperture="80">
          <controller config="ffc" />
        </foot-bot>
      </entity>
    </distribute>
    -->
  </arena>
 
  <!-- ******************* -->
  <!-- * Physics engines * -->
  <!-- ******************* -->
  <physics_engines>
    <dynamics2d id="dyn2d" />
  </physics_engines>
 
  <!-- ********* -->
  <!-- * Media * -->
  <!-- ********* -->
  <media>
    <led id="leds" />
  </media>
 
  <!-- ****************** -->
  <!-- * Visualization * -->
  <!-- ****************** -->
  <visualization>
    <qt-opengl>
      <camera>
        <placement idx="0"
                   position="5.33539,5.60355,1.06253"
                   look_at="4.70428,4.92503,0.686605"
                   lens_focal_length="20" />
      </camera>
    </qt-opengl>
  </visualization>
 
</argos-configuration>
 

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