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AU-Master-Thesis · Apr 14, 2024 · f515f00 · f515f00
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diff --git a/assets/audio/za-warudo.ogg b/assets/audio/za-warudo.ogg
diff --git a/assets/fonts/JetBrainsMonoNerdFont-Bold.ttf b/assets/fonts/JetBrainsMonoNerdFont-Bold.ttf
diff --git a/assets/fonts/JetBrainsMonoNerdFont-BoldItalic.ttf b/assets/fonts/JetBrainsMonoNerdFont-BoldItalic.ttf
diff --git a/assets/fonts/JetBrainsMonoNerdFont-ExtraBold.ttf b/assets/fonts/JetBrainsMonoNerdFont-ExtraBold.ttf
diff --git a/assets/fonts/JetBrainsMonoNerdFont-ExtraBoldItalic.ttf b/assets/fonts/JetBrainsMonoNerdFont-ExtraBoldItalic.ttf
diff --git a/assets/fonts/JetBrainsMonoNerdFont-ExtraLight.ttf b/assets/fonts/JetBrainsMonoNerdFont-ExtraLight.ttf
diff --git a/assets/fonts/JetBrainsMonoNerdFont-ExtraLightItalic.ttf b/assets/fonts/JetBrainsMonoNerdFont-ExtraLightItalic.ttf
diff --git a/assets/fonts/JetBrainsMonoNerdFont-Italic.ttf b/assets/fonts/JetBrainsMonoNerdFont-Italic.ttf
diff --git a/assets/fonts/JetBrainsMonoNerdFont-Light.ttf b/assets/fonts/JetBrainsMonoNerdFont-Light.ttf
diff --git a/assets/fonts/JetBrainsMonoNerdFont-LightItalic.ttf b/assets/fonts/JetBrainsMonoNerdFont-LightItalic.ttf
diff --git a/assets/fonts/JetBrainsMonoNerdFont-Medium.ttf b/assets/fonts/JetBrainsMonoNerdFont-Medium.ttf
diff --git a/assets/fonts/JetBrainsMonoNerdFont-MediumItalic.ttf b/assets/fonts/JetBrainsMonoNerdFont-MediumItalic.ttf
diff --git a/assets/fonts/JetBrainsMonoNerdFont-Regular.ttf b/assets/fonts/JetBrainsMonoNerdFont-Regular.ttf
diff --git a/assets/fonts/JetBrainsMonoNerdFont-SemiBold.ttf b/assets/fonts/JetBrainsMonoNerdFont-SemiBold.ttf
diff --git a/assets/fonts/JetBrainsMonoNerdFont-SemiBoldItalic.ttf b/assets/fonts/JetBrainsMonoNerdFont-SemiBoldItalic.ttf
diff --git a/assets/fonts/JetBrainsMonoNerdFont-Thin.ttf b/assets/fonts/JetBrainsMonoNerdFont-Thin.ttf
diff --git a/assets/fonts/JetBrainsMonoNerdFont-ThinItalic.ttf b/assets/fonts/JetBrainsMonoNerdFont-ThinItalic.ttf
diff --git a/assets/imgs/circle_cluttered.png b/assets/imgs/circle_cluttered.png
diff --git a/assets/imgs/circle_cluttered_sdf.png b/assets/imgs/circle_cluttered_sdf.png
diff --git a/assets/imgs/junction.png b/assets/imgs/junction.png
diff --git a/assets/imgs/junction_sdf.png b/assets/imgs/junction_sdf.png
diff --git a/assets/imgs/junction_twoway.png b/assets/imgs/junction_twoway.png
diff --git a/assets/imgs/roundabout.png b/assets/imgs/roundabout.png
diff --git a/assets/imgs/roundabout_sdf.png b/assets/imgs/roundabout_sdf.png
diff --git a/assets/imgs/simple.png b/assets/imgs/simple.png
diff --git a/assets/imgs/very_clutter.png b/assets/imgs/very_clutter.png
diff --git a/assets/imgs/very_clutter_sdf.png b/assets/imgs/very_clutter_sdf.png
diff --git a/assets/models/box.glb b/assets/models/box.glb
diff --git a/assets/models/roomba.glb b/assets/models/roomba.glb
diff --git a/assets/shaders/line_material.wgsl b/assets/shaders/line_material.wgsl
@@ -0,0 +1,14 @@
+#import bevy_pbr::forward_io::VertexOutput
+
+struct LineMaterial {
+    color: vec4<f32>,
+};
+
+@group(1) @binding(0) var<uniform> material: LineMaterial;
+
+@fragment
+fn fragment(
+    mesh: VertexOutput,
+) -> @location(0) vec4<f32> {
+    return material.color;
+}
diff --git a/config/config.toml b/config/config.toml
@@ -0,0 +1,67 @@
+# environment = "junction"
+environment_image = "junction"
+environment       = "./config/environment.yaml"
+formation_group   = "./config/formation.ron"
+
+[interaction]
+ui-focus-cancels-inputs = true
+
+[visualisation.uncertainty]
+max-radius = 2.5
+scale      = 300.0
+
+[visualisation.height]
+objects    = 0.5
+height-map = 1.0
+
+[visualisation.draw]
+robots                 = true
+communication-graph    = false
+predicted-trajectories = true
+waypoints              = false
+uncertainty            = false
+paths                  = true
+generated-map          = true
+height-map             = false
+sdf                    = false
+communication-radius   = false
+
+[gbp]
+sigma-pose-fixed        = 0.000000000000001
+sigma-factor-dynamics   = 0.1
+sigma-factor-interrobot = 0.01
+sigma-factor-obstacle   = 0.01
+iterations-per-timestep = 10
+lookahead-multiple      = 3
+
+[robot]
+planning-horizon  = 5.0
+max-speed         = 4.0
+dofs              = 4
+symmetric-factors = true
+radius            = 1.0
+
+[robot.communication]
+radius       = 20.0
+failure-rate = 0.2
+
+[simulation]
+t0                 = 0.25
+max-time           = 10000.0
+time-scale         = 1.0
+manual-step-factor = 1
+hz                 = 60.0
+world-size         = 100.0
+random-seed        = 0
+pause-on-spawn     = false
+
+[graphviz.interrobot.edge]
+style = "dashed"
+len   = 8.0
+color = "red"
+
+[graphviz]
+export-location = "./assets/export/"
+
+[manual]
+timesteps-per-step = 1
diff --git a/config/environment.yaml b/config/environment.yaml
@@ -0,0 +1,8 @@
+tiles:
+  grid:
+  - ┼
+  settings:
+    tile-size: 100.0
+    path-width: 0.1375
+    obstacle-height: 1.0
+obstacles: []
diff --git a/config/environment_circle.yaml b/config/environment_circle.yaml
@@ -0,0 +1,70 @@
+tiles:
+  grid:
+  - █
+  settings:
+    tile-size: 100.0
+    path-width: 0.0
+    obstacle-height: 1.0
+obstacles:
+- shape: !regular-polygon
+    sides: 4
+    side_length: 0.0525
+    translation:
+      x: 0.625
+      y: 0.60125
+  rotation: 0.0
+  tile-coordinates:
+    row: 0
+    col: 0
+- shape: !regular-polygon
+    sides: 4
+    side_length: 0.035
+    translation:
+      x: 0.44125
+      y: 0.57125
+  rotation: 0.0
+  tile-coordinates:
+    row: 0
+    col: 0
+- shape: !regular-polygon
+    sides: 4
+    side_length: 0.0225
+    translation:
+      x: 0.4835
+      y: 0.428
+  rotation: 0.0
+  tile-coordinates:
+    row: 0
+    col: 0
+- shape: !rectangle
+    width: 0.0875
+    height: 0.035
+    translation:
+      x: 0.589
+      y: 0.3965
+  rotation: 0.0
+  tile-coordinates:
+    row: 0
+    col: 0
+- shape: !triangle
+    base_length: 0.03
+    height: 0.0415
+    mid_point: 0.575
+    translation:
+      x: 0.5575
+      y: 0.5145
+  rotation: 0.0
+  tile-coordinates:
+    row: 0
+    col: 0
+- shape: !triangle
+    base_length: 0.012
+    height: 0.025
+    mid_point: 1.25
+    translation:
+      x: 0.38
+      y: 0.432
+  rotation: 5.225
+  tile-coordinates:
+    row: 0
+    col: 0
diff --git a/config/formation.ron b/config/formation.ron
@@ -0,0 +1,146 @@
+(
+  formations: [
+    (
+      repeat: true,
+      delay: (
+        secs: 5,
+        nanos: 0
+      ),
+      robots: 1,
+      waypoints: [
+        (
+          shape: line(((
+            x: 0.45,
+            y: 0.0,
+          ), (
+            x: 0.55,
+            y: 0.0,
+          ))),
+          r#placement-strategy: equal,
+        ),
+        (
+          shape: line(((
+            x: 0.45,
+            y: 1.25,
+          ), (
+            x: 0.55,
+            y: 1.25,
+          ))),
+          r#placement-strategy: map,
+        ),
+      ],
+    ),
+    (
+      repeat: true,
+      delay: (
+        secs: 5,
+        nanos: 0
+      ),
+      robots: 1,
+      waypoints: [
+        (
+          shape: line(((
+            x: 0.0,
+            y: 0.45,
+          ), (
+            x: 0.0,
+            y: 0.55,
+          ))),
+          r#placement-strategy: equal,
+        ),
+        (
+          shape: line(((
+            x: 1.25,
+            y: 0.45,
+          ), (
+            x: 1.25,
+            y: 0.55,
+          ))),
+          r#placement-strategy: map,
+        ),
+      ],
+    ),
+    // (
+    //   repeat: true,
+    //   delay: (
+    //     secs: 2,
+    //     nanos: 0
+    //   ),
+    //   robots: 1,
+    //   waypoints: [
+    //     (
+    //       shape: line(((
+    //         x: 0.45,
+    //         y: 0.0,
+    //       ), (
+    //         x: 0.55,
+    //         y: 0.0,
+    //       ))),
+    //       r#placement-strategy: equal,
+    //     ),
+    //     (
+    //       shape: line(((
+    //         x: 0.45,
+    //         y: 0.55,
+    //       ), (
+    //         x: 0.55,
+    //         y: 0.45,
+    //       ))),
+    //       r#placement-strategy: map,
+    //     ),
+    //     (
+    //       shape: line(((
+    //         x: 1.0,
+    //         y: 0.55,
+    //       ), (
+    //         x: 1.0,
+    //         y: 0.45,
+    //       ))),
+    //       r#placement-strategy: map,
+    //     ),
+    //   ],
+    // ),
+     // (
+     //   repeat: true,
+     //   delay: (
+     //     secs: 5,
+     //     nanos: 0
+     //   ),
+     //   robots: 2,
+     //   waypoints: [
+     //     (
+     //       shape: line(((
+     //         x: 0.45,
+     //         y: 1,
+     //       ), (
+     //         x: 0.55,
+     //         y: 1,
+     //       ))),
+     //       r#placement-strategy: equal,
+     //     ),
+     //     (
+     //       shape: line(((
+     //         x: 0.45,
+     //         y: 0.45,
+     //       ), (
+     //         x: 0.55,
+     //         y: 0.55,
+     //       ))),
+     //       r#placement-strategy: map,
+     //     ),
+
+     //     (
+     //       shape: line(((
+     //         x: 0.0,
+     //         y: 0.45,
+     //       ), (
+     //         x: 0.0,
+     //         y: 0.55,
+     //       ))),
+     //       r#placement-strategy: map,
+     //     ),
+     //   ],
+     // ),
+
+  ],
+)