patrolling_sim

patrolling_sim for ROS (Groovy/Hydro/Indigo)

Authors:

Main framework and basic algorithms: David Portugal (2011-2014), Luca Iocchi (2014)

Additional algorithms:

• DTAS, DTAP: Alessandro Farinelli (2014)

This package contains the implementation of several algorithms for multi-robot patrolling and a general structure of a PatrolAgent that can be extended to implement other ones.

For a quick try, just compile the package ('rosmake'), start the script './start_experiment.py', make your choices and see the experiment running.

Several maps are available in the 'maps' folder. For map X the patrol graph is visible in the file patrolling_sim/maps/X/X-graph.png

Several algorithm have been implemented in the 'src' folder. Each method is implemented through a class 'X_Agent' that inherits from the abstract class 'PatrolAgent' many common services and functions.

Results of the experiments are stored in the 'results' folder.

For running a particular experiment, use the run-exp.sh script template. It is convenient to copy this file in a new file that you can edit as you wish. For example, the current version of run_exp.sh allows to run an experiment for DISlabs, with 8 robots, 30 minutes, using DTAP algorithm, and other standard parameters. After 30 minutes the experiment terminate and the results will be available in the files result/_<n.robots>///*.csv

Ths info file contains a summary of the result of the experiments with the following values: Map ; N. robots ; Wait time ; Communication delay ; Algorithm ; Algorithm parameters ; Machine ; Date ; Time Interferences ; Termination ; Idleness min ; avg ; stddev ; max ; avg + stddev ; avg + 2 stddev ; Interf/min