Jonas Kuckling, Vincent van Pelt, and Mauro Birattari (January 2019)
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Table of Contents |
In this page, you will find illustrations and explanations of the reference designs and typical strategies discovered by the design process of Cedrata.
This section provides illustrations for the reference designs. The reference designs were performed by a human designer, without any time constraints. They serve to highlight a strategy that we believe to perform suitable in a mission.
In this design, robots make use of the signal framework to send indications about the location of the food sources to their neighbors. When a robot finds a food source, it emits a signal. The signal can then be received by robots that are in search of a food source to attract them to it.
In this design, robots explore the arena until they find the marker. Then, using the signal framework, they will attract their neighbors to the aggregation area.
In this design, robots will send and forward signals to their neighbors to transmit the information that the white spot has been discoverd. If a robot received a signal, it stops; if it do not receive any signal, it explore the arena in order to find the white spot.
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This is an example of a typical tree generated by Cedrata for the mission Foraging. The left figure shows a representation of the behavior tree. On the right is a run of that behavior tree on a swarm of 20 e-puck robots in simulation.
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This is an example of a typical communication-less tree generated by Cedrata for the mission Marker Aggregation. The left figure shows a representation of the behavior tree. On the right is a run of that behavior tree on a swarm of 20 e-puck robots in simulation.
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This is an example of a typical communication-based tree generated by Cedrata for the mission Marker Aggregation. The left figure shows a representation of the behavior tree. On the right is a run of that behavior tree on a swarm of 20 e-puck robots in simulation.
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This is an example of a typical tree generated by Cedrata for the mission Stop. The left figure shows a representation of the behavior tree. On the right is a run of that behavior tree on a swarm of 20 e-puck robots in simulation.