Spatial-Swarm-Search-with-ARPSO/config.yaml at main · austinturbs/Spatial-Swarm-Search-with-ARPSO · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
runtime:
  mode: debug    # debug or fast

map:
  type: rectangle    # rectangle
  rectangle:
    length: 1200      # kilometers
    width: 1200       # kilometers

manager:
  num_swarms: 1
  spawn_locations: [    # [number of swarms] by [n-dimensions]  # units: kilometers
    [0.2, -0.2]
  ]
  search_centers: [    # [number of swarms] by [n-dimensions]  # units: kilometers
    [0, 0,]
  ]
  num_dimensions: 2
  simulation_runtime: 3 # [hours]

swarms:
  num_agents: 3 # DON'T GO HIGHER THAN 5
  search_method: arpso # arpso, lawnmower, spiral, traveling_salesman, or greedy
  divide_map_method: box # box
  keep_out_zone_radius: 100 # meters
  angle_of_view: 135 # degrees
  time_detection_threshold: 600 # seconds
  handshake: false

  # assuming 2-5 knots -> ~1-2.5 m/s
  max_speed_start: 2.50  # [meters/second]
  max_speed_end: 2.50    # [meters/second]

targets:
  # [number of targets] by [n-dimensions]  # units: kilometers
  stationary_locations: [
    [-0.41953, -0.11104],
    [+0.41953, +0.11104]
  ]
  # [number of targets] by [n-dimensions]  # units: kilometers
  dynamic_locations: [
  ]
  # [number of targets] by [1]  # units: degrees
  dynamic_yaws: [
  ]
  # [number of targets] by [n-dimensions]  # units: kilometers
  stationary_locations_future: [
  ]
  # [number of targets] by [n-dimensions]  # units: kilometers
  dynamic_locations_future: [
  ]
  # [number of targets] by [1]  # units: degrees
  dynamic_yaws_future: [
  ]

  max_speed_dynamic: 1.5 # [meters / second]
  acceptable_bounds: 100  # meters