Install the git repo
git clone ...
gir recursive update ...- [Source] - Contains the classes needed for this project: coverage control, data structure, etc.
- [Library]- Contains the custom packages, e.g., Voronoi algorithms, parsing, fast matrix computation, etc.
- [Config.m] - Setup file used for configuring parameters.
- [Main.m] - Run
Setup the simulation by adjusting the parameters in Config.m
- Simulation Parameter: params related to the simulation, e.g., time step, number of agents
- Coverage Parameter: missions related parameters, e.g., region boundaries, ...
- Controller Parameter: specific controller parameters, e.g., gain, bounded input, velocity, etc.
Run file Main.m
The program runs and all the data is logged by the DataLogger (Source/Tools/DataLogger.m) module.
User may pause the execution and use the DataLogger module for the evaluation.
Use the instance of class DataLogger from the "Main.m" file to plot stuffs. Example
% Breakpoint during the main loop of Main.m
Logger.plot_Lyapunov()
Logger.plot_control_output()
Logger.plot_VM_trajectories()
...
User can implement a child class of Logger to clarify how they want to adjust the figures, e.g., LineWdith, Boudary Lines, etc.
MIT
Free Software, Hell Yeah!