CLEAN KILOBOTS DIRECTORY / APRIL 2018

Created by Amaury Camus (amaury.camus92@gmail.com)
Supervision : Vito Trianni

Description

This is an attempt to create a self sufficient and clean repository for kilobots:

• For real robots
• For simulation on ARGoS

src folder

It contains all the code. See internal README for more information

tracking folder

It contains scripts to analyze the videos taken during real experiments:

• From over the robot
• with a gopro at 2Hz

anayze_script folder

It contains python scripts that will analyze data produced by the simulations or by the tracking scripts (that follow the same format).

conversion_scripts folder

To use the data produced here with Aishwayra's plotting tools (see RandomWalkRealoaded/multi_agent_simulation), a python script convert my data format into hers.

simulation_config folder

It contains the ARGoS config files, which will be generated on building (see below and in the src/README.md)

Build and use

Dependancies

Prior to using this work, you should have installed:

• Argos3 (from sources : https://github.com/ilpincy/argos3 , installed in usr/local)
• Argos3 kilobot plugin (from sources : https://github.com/ilpincy/argos3-kilobot , installed in usr/local)

The current state of this works allows me to make it work on ubuntu 16.04 and 14.04, though I don't know for mac OS.

Building

At the root folder (same level as src):
mkdir build (if it doesn't already exists)
cd build
cmake ../src
make

It should compile everything.

• Thanks to the cmakelists.txt in behaviors, with its for loops, you can specify the whole range of parameters for which you want to run experiments. Is should generate:
  • The binary behavior files in build/behaviors_simulation
  • The config files in simulation_config/generated_configs
• The .hex files needed for real kilobots are in build/behaviors_real

Launching a simulation

Steps:

• Make sure you have argos3 installed (typing which argos3 should give the path to the executable)
• Make sure you are in the root folder
• From the root folder, use the command argos3 -c simulation_config/MY_CONFIG.argos