This repository is an implementation of the framework for hashgraph-based swarm robotics. There are two case studies in this repository, one is black-white ratio estimation and the other is object searching. The corresponding article: A Fast and Robust Solution for Common Knowledge Formation in Decentralized Swarm Robots.https://link.springer.com/article/10.1007/s10846-022-01759-1
Ubuntu18.04, Webots 2021a
Requirements of py-swirld installation refers to https://github.com/Lapin0t/py-swirld
git clone https://github.com/luoxiaojie9527/swarm-hashgraph.git
Take object-searching for example
- Launch the Hashgrpah process
cd object_searching/controllers/py-swirld-object-searching/
python swirldsRestart.py
- Launch the Webots simulator by click the webots icon
- In Webots simulator, open the world object_searching2.wbt in object_searching/worlds/
- Click the run button
Don't forget to change the absolute path of the document in the code to read your preset parameters and save your experimental results.
https://pan.baidu.com/s/1mtrY0Fwr6RJt6HVxyEfKdA?pwd=s6s5#list/path=%2F