ARGoS
Large-scale robot simulations
ARGoS Example

foraging.argos

<?xml version="1.0" ?>
 
<!-- *************************************************** -->
<!-- * A fully commented XML is diffusion_1.xml. Refer * -->
<!-- * to it to have full information about what       * -->
<!-- * these options mean.                             * -->
<!-- *************************************************** -->
 
<argos-configuration>
 
  <!-- ************************* -->
  <!-- * General configuration * -->
  <!-- ************************* -->
  <framework>
    <system threads="0" />
    <experiment length="0"
                ticks_per_second="10"
                random_seed="123" />
  </framework>
 
  <!-- *************** -->
  <!-- * Controllers * -->
  <!-- *************** -->
  <controllers>
 
    <footbot_foraging_controller id="ffc"
                                 library="build/controllers/footbot_foraging/libfootbot_foraging">
      <actuators>
        <differential_steering implementation="default" />
        <leds implementation="default" medium="leds" />
        <range_and_bearing implementation="default" />
      </actuators>
      <sensors>
        <footbot_proximity implementation="default" show_rays="false" />
        <footbot_light implementation="rot_z_only" show_rays="false" />
        <footbot_motor_ground implementation="rot_z_only" />
        <range_and_bearing implementation="medium" medium="rab" />
      </sensors>
      <params>
        <diffusion go_straight_angle_range="-5:5"
                   delta="0.1" />
        <wheel_turning hard_turn_angle_threshold="90"
                       soft_turn_angle_threshold="70"
                       no_turn_angle_threshold="10"
                       max_speed="10" />
        <state initial_rest_to_explore_prob="0.1"
               initial_explore_to_rest_prob="0.1"
               food_rule_explore_to_rest_delta_prob="0.01"
               food_rule_rest_to_explore_delta_prob="0.01"
               collision_rule_explore_to_rest_delta_prob="0.01"
               social_rule_explore_to_rest_delta_prob="0.01"
               social_rule_rest_to_explore_delta_prob="0.01"
               minimum_resting_time="50"
               minimum_unsuccessful_explore_time="600"
               minimum_search_for_place_in_nest_time="50">
          <food_rule active="true" food_rule_explore_to_rest_delta_prob="0.01" />
        </state>
      </params>
    </footbot_foraging_controller>
 
  </controllers>
 
  <!-- ****************** -->
  <!-- * Loop functions * -->
  <!-- ****************** -->
  <loop_functions library="build/loop_functions/foraging_loop_functions/libforaging_loop_functions"
                  label="foraging_loop_functions">
    <foraging items="15"
              radius="0.1"
              energy_per_item="1000"
              energy_per_walking_robot="1"
              output="foraging.txt" />
  </loop_functions>
 
  <!-- *********************** -->
  <!-- * Arena configuration * -->
  <!-- *********************** -->
  <arena size="5, 5, 2" center="0,0,1">
 
    <floor id="floor"
           source="loop_functions"
           pixels_per_meter="50" />
 
    <box id="wall_north" size="4,0.1,0.5" movable="false">
      <body position="0,2,0" orientation="0,0,0" />
    </box>
    <box id="wall_south" size="4,0.1,0.5" movable="false">
      <body position="0,-2,0" orientation="0,0,0" />
    </box>
    <box id="wall_east" size="0.1,4,0.5" movable="false">
      <body position="2,0,0" orientation="0,0,0" />
    </box>
    <box id="wall_west" size="0.1,4,0.5" movable="false">
      <body position="-2,0,0" orientation="0,0,0" />
    </box>
 
    <light id="light_1"
           position="-2,-1.5,1.0"
           orientation="0,0,0"
           color="yellow"
           intensity="3.0"
           medium="leds" />
    <light id="light_2"
           position="-2,-0.5,1.0"
           orientation="0,0,0"
           color="yellow"
           intensity="3.0"
           medium="leds" />
    <light id="light_3"
           position="-2,0.5,1.0"
           orientation="0,0,0"
           color="yellow"
           intensity="3.0"
           medium="leds" />
    <light id="light_4"
           position="-2,1.5,1.0"
           orientation="0,0,0"
           color="yellow"
           intensity="3.0"
           medium="leds" />
 
    <distribute>
      <position method="uniform" min="-2,-2,0" max="-1,2,0" />
      <orientation method="uniform" min="0,0,0" max="360,0,0" />
      <entity quantity="20" max_trials="100">
        <foot-bot id="fb">
          <controller config="ffc" />
        </foot-bot>
      </entity>
    </distribute>
 
  </arena>
 
  <!-- ******************* -->
  <!-- * Physics engines * -->
  <!-- ******************* -->
  <physics_engines>
    <dynamics2d id="dyn2d" />
  </physics_engines>
 
  <!-- ********* -->
  <!-- * Media * -->
  <!-- ********* -->
  <media>
    <range_and_bearing id="rab" />
    <led id="leds" />
  </media>
 
  <!-- ****************** -->
  <!-- * Visualization * -->
  <!-- ****************** -->
  <visualization>
    <qt-opengl>
      <camera>
        <placements>
          <placement index="0" position="0,0,4.34" look_at="0,0,0" up="1,0,0" lens_focal_length="20" />
        </placements>
      </camera>
      <user_functions label="foraging_qt_user_functions" />
    </qt-opengl>
  </visualization>
 
</argos-configuration>
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