coverage_control_params.toml

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# Specify parameters for coverage control in toml format
 
NumRobots = 32
NumFeatures = 32
 
NumPolygons = 0
MaxVertices = 10
PolygonRadius = 64
 
[IO]
# Determines the quality of the plot and videos
# > 1: High quality (takes more time to plot)
# < 1: Low quality (takes less time to plot)
PlotScale = 1.0
 
# Parameters for the environment
[Environment]
 
[Environment.Maps]
# Assuming same resolution in both the directions. Pixel area = Resolution^2
Resolution = 1
 
# Actual size of maps is size * Resolution, e.g.,  WorldMapSize * Resolution
WorldMapSize = 1024
 
# Robot map saves what the robot has seen
RobotMapSize = 1024
 
# Local map is used for computing mass. Actual area would be LocalMapSize * Resolution
# Should be greater than CommunicationRange so that they can form different channels of the same image.
LocalMapSize = 256
 
# Map update settings
[Environment.Maps.UpdateSettings]
 
UpdateRobotMap = true # Set UpdateRobotMap to false for centralized known world
UpdateSensorView = true
UpdateExplorationMap = false
UpdateSystemMap = true
 
# Parameters for the IDF
[Environment.IDF]
 
# Bivariate Normal Distribution truncated after TruncationBND * sigma
# Makes it more realistic and reduces the number of erfc evaluations
TruncationBND = 2
 
# Used to normalize map. Max value will be scaled to Norm.
Norm = 1
 
# These settings are only relevant if the IDF is generated using random gaussians
MinSigma = 40
MaxSigma = 60
MinPeak = 6
MaxPeak = 10
 
# Add importance to unknown regions
UnknownImportance = 0.5 # fraction of the largest imaportance of a grid cell
RobotMapUseUnknownImportance = false
 
# Parameters for the robot
[RobotModel]
 
# Assuming square sensor FOV.
# Actual FOV: square with side Resolution * SensorSize
# Robot is placed at the center of FOV
# Make it even so that I don't have to deal with substracting by half-resolution.
SensorSize = 64 # Positive integer. NOTE: Needs to be even
 
# Radius of communication (in meters)
CommunicationRange = 128
 
MaxRobotSpeed = 5 # in m/s. Make sure MaxRobotSpeed * TimeStep / Resolution < SensorSize/2
RobotInitDist = 1024 # Distance from the origin within which to initialize the position of the robots
RobotPosHistorySize = 40 # For plotting and checking oscillations
 
TimeStep = 0.2 # in seconds
 
[RobotModel.AddNoise]
 
# Add noise to the robot's position and sensor readings
AddNoisePositions = false
PositionsNoiseSigma = 0.1
 
# Parameters for the standard baseline coverage control algorithms
[Algorithm]
 
# Number of steps in an episode
EpisodeSteps = 2100
CheckOscillations = true
 
[Algorithm.Global-CVT]
# Settings for Global-CVT algorithm
LloydMaxIterations = 1000
LloydNumTries = 20
 
[Algorithm.Exploration]
# Number of frontiers to be selected (not used currently)
NumFrontiers = 10