EBD-Multirobot-Subframeworks

Model from the PhD thesis of Francisco Presenza.

Experiment MultiRobot System Model

Coupled and Atomics DEVS Models:

1. Experiment (Classic DEVS)
2. Multirobot System, Robot, Physics, QSSIntegrator_Yup
3. Controller
4. Kalman Filter
5. Token Handler
6. Router
7. Splitter
8. EB-DEVS Library

Settings:

• robots

Unitary tests

Unitary tests

System model

The model created in system.py is a simple harmonic oscillator, whose equations are as follows:

$$\dot{x}_2 = x_1 \\\ \dot{x}_1 = -x_2$$

Run an experiment

Run an experiment:

python3 experiment.py

The results can be found under output/.

Postprocessing

The results in the output.csv file can be plotted with gnuplot:

cd output/
gnuplot plot.plt

In case, the name of the file generated by the Collector atomic model changes then update it in the plot.plt script.

Simulator

Clone the EB-DEVS Simulator with:

git clone https://git-modsimu.exp.dc.uba.ar/elanzarotti/eb-devs.git

Package installation

Emergent Behavior DEVS simulator for multirobot systems Package

This package contains a collection of methods and algorithms developed during my PhD at University of Buenos Aires, tilted Reconfigurable Networks of Unmanned Vehicles.

Preparation

First, download the project:

$ mkdir -p $HOME/repo
$ cd $HOME/repo/
$ git clone ...

Dependencies

Some of the dependencies used work are (all work with python2.7):

• numpy>=1.23.5
• matplotlib>=3.7.1
• scipy>=1.10.1
• numba>=0.56.4

Installation

First time it must be installed as:

$ cd $HOME/repo/multirobot_ebdevs
$ python3 setup.py sdist bdist_wheel
$ pip3 install ./dist/multirobot_ebdevs-0.0.1.tar.gz

Then, once changes are done, it is updated with:

$ cd $HOME/repo/multirobot_ebdevs
$ pip3 install .

In a python console, it can be imported as:

>>> import multirobot_ebdevs
>>> help(multirobot_ebdevs)