Counting Obstacles in a scene using Swarm Robots

Directed Research for Spring 2019 - Collective perception for robot swarm in presence of faulty or byzantine robots.

Files and Usage

argos/obstacle_avoidance_environment.argos is the XML environment file that creates the environment with
- Arena Size 6 x 6
- 6 obstacles - Cylinders
- 8 Khepera IV robots
The repository uses Makefile system for execution
Run the command make run from the root directory of this repository to open up the ARGoS simulation environment with the Buzz editor
Load the buzz/counting_obstacle_avoidance.bzz file as the main script for Argos
Hit the execute button to run the setup. Currently, the final result, list {probability, x_coordinate, y_coordinate} elements representing the obstacles, is written to the file results/store_data.txt
Visualize these obstacles determined by the swarm using make plot that opens up a Python matplotlib window showing the plot.
/results folder also has a couple of comparison snapshots between the actual simulation environment and the one obtained from the swarm.

Edit the header file paths for includes in the buzz/counting_obstacle_avoidance.bzz file appropriately
Delete the contents of the storage file results/store_data.txt before each run else information gets appended over multiple runs