Symmetric coverage algorithm code for DCSL at Princeton University
This code allows Miabots to run the voronoi and gradient-based control laws described in the paper "Symmetric coverage of dynamic mapping error for mobile sensor networks" by Carlos H. Caicedo-Nunez and Naomi Ehrich Leonard. The regions being surveyed, number and positions of robots, and various coefficients for the robots surveying and nature of the field are customizeable. Due to the costliness of calculations, the program differs slightly from the algorithm. The memory of past measurements and number of points being examined are also adjustable, rather than viewing every point and remembering every previous position, so as to allow the program to calculate quickly.
These programs require Miabots.m and its dependencies, which can be downloaded at https://github.com/leonard-lab/dcsl-matlab-api.git.
field: contains control laws for both the voronoi and gradient based searches. For the gradient based search, runs the standard control law, and several variations designed to maintain symmetry and speed up the run time. These are categorized as fast, average_fast, and average_slow.
streamedField: contains the standard control law, with the added feature of being able to "remember" different numbers of previous measurements for other robots.
voronoiRunScript: runs the Voronoi-based control law through the field object
runScript: runs the gradient based control law through either field or streamedField
twoRobotsCircle: demonstration script, runs two robots in a circular domain with coefficients that look good on Miabots
twoRobotsSquare: demonstration script, runs two robots in a square domain with coefficients that look good on Miabots
threeRobotsCircle: demonstration script, runs three robots in a circular domain with coefficients that look good on Miabots
To run on Miabots: 1. Open a terminal and run command %roslaunch dcsl_miabot_main miabot_main.launch (miabot_main3.launch for 3 robots) 2. One by one, turn on each robot and connect it using the GUI 3. Put robots into view of camera and ensure that each is properly tracked 4. Use a preset run script, runScript, twoRobotsCircle, twoRobotsSquare, or threeRobotsCircle, or create a field or streamedField object with desired variables. 5. Create a miabots object using the control law from the field or streamedField object, and run Miabots.start To shutdown system: 6. run Miabots.shutdown, then control-c out of the terminal used to open the ROS GUI Data from each run is stored in the output.csv file. From there, it can be exported into LibreOffice. Additionally, the run scripts generate plots of x vs y, x vs time, y vs time and z vs time, and information entropy vs time, and a string containing the settings used for the run.