swarm-energy-replenishment

Installation | Usage | License

This repository contains the code for the paper presented at ANTS 2024:

• A Comparative Study of Energy Replenishment Strategies for Robot Swarms

Installation

The following steps have been tested in Ubuntu 22, but it should be applicable to other Ubuntu distributions as well.

You need to have ARGoS installed on your computer before proceeding.

Install the following apt packages:

sudo apt update
sudo apt install python3 python3-venv pip git libyaml-cpp-dev nlohmann-json3-dev

Install plugins

Install the plugins used in this project:

git clone https://gitlab.com/genki_miyauchi/multi-human-swarm-control-plugins.git
cd multi-human-swarm-control-plugins
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr ../src
make
sudo make install

After executing the above commands, you should see e-puck_charger and rectangle_task appear when using argos3 -q entities

Once the plugins have been installed, you may delete the minimal-length-swarm-networks-plugins folder

Install protobuf

Protobuf is used to log the experiment in binary format. Install protobuf using the following commands.

wget https://github.com/protocolbuffers/protobuf/releases/download/v21.12/protobuf-cpp-3.21.12.tar.gz
tar xzf protobuf-cpp-3.21.12.tar.gz
cd protobuf-3.21.12/
./configure
make -j$(nproc)
sudo make install
sudo ldconfig

Once the protobuf compiler is successfully installed, you should be able to run protoc in the terminal.

Python dependencies

Install the Python dependencies in requirements.txt using your choice of virtual environment. Here, we assume using venv:

python3 -m venv venv
source venv/bin/activate
pip install -r requirements.txt

Usage

Build the project

cd swarm-energy-replenishment
mkdir results
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr ../src
make

Run the project

Use one of the following commands to run an experiment:

argos3 -c experiments/work_and_charge/fixed_charger.argos
argos3 -c experiments/work_and_charge/mobile_charger.argos

For running batch simulation trials, configure and execute run_simulations.sh.

License

The code in this repository is released under the terms of the MIT license.