khaiyichin / sensor-degradation-filter

sensor_degradation_filter

Requirements

• GSL 2.5+ - can be installed using apt install libgsl-dev or built from source

unorganized notes

• the static topo static deg (STSD) experiment is run by using the kheperaiv_static_deg_controller in the argos file
• in simulation, the assumed accuracy of a robot (if it's supposed to have a different one from its actual accuracy) is set in the <loop_functions> node
  • justification for doing this (as opposed to setting it in the controller):
    • we can't control --- at least not easily --- which robots are flawed and which aren't if we assign the values using the controller
    • if we want to use the same controller for real robots, we can technically cross-compile specific robots to have flawed assumed accuracies, but using loop functions is way more streamlined
  • the actual accuracy of the robot is set in the <controllers> node because it applies to all the robots. (maybe we want to consider having a swarm with heterogenous sensor accuracies?)
• in the loop functions

how to run experiments

static-topo-static-deg

1. remove -p if you don't want parallel; see param_multi_robot_sim_1d_static_degradation.yml for the format of $PARAM_FILE.

   (.venv) $ run_static_degradation_experiment.py $PARAM_FILE -p
   

dynamic-topo-static-deg

1. build the loop functions, controller and dependent libraries (should be achieved with a single cmake/make)
2. use the script run_dynamic_topo_simulations instead of argos3.

   # in the build_argos/src folder
   $ ./run_dynamic_topo_simulations -c $PARAM_FILE
   

   where $PARAM_FILE is the .argos file (see param_multi_robot_sim_1d_static_degradation.argos for the format)

how to run experiments on hpc

static-topo_static-deg

1. use the hpc_multi_job_static_topo_static_deg_run.sh to run. This will use the sbatch_static_topo_static_deg_run.sh script under the hood.

dynamic-topo-dynamic-deg