![]() The algorithm should provide the robots with the ability to 1) avoid obstacles within the arena while retaining the collective formation, and 2) maintain collective formation while two different flocks of robots cross each other moving in opposite directions. ![]() The goal of the project is to implement, test, analyze, and optimize a flocking algorithm for e-pucks on the Webots simulator. Multidisciplinary team with a computer engineer and a mechanical engineer. Project about flocking algorithms using small robots. It is also switchable from the pen API, using the wb_pen_write function.Optimized flocking algorithm for e-pucks Github Paper Write: this boolean field allows the robot to enable or disable writing with the pen. MaxDistance: define the maximal distance between the Pen device and a paintable object and allows to simulate write-on-contact behaviors.Ī value smaller or equal 0 represents an unlimited painting range. This allows the robot to write a wider or narrower track. LeadSize: define the width of the "tip" of the pen. This field can also be changed from the pen API, using the wb_pen_set_ink_color function. InkDensity: define the density of the color of the ink. This field can be changed from the pen API, using the wb_pen_set_ink_color function. InkColor: define the color of the pen's ink. Hence, it is possible to implement a robotics experiment where a robot draws a line on the floor with a pen and a second robot performs a line following behavior with the line drawn by the first robot. Note: The drawings performed by a pen can be seen by infra-red distance sensors. Note: The inkEvaporation field of the WorldInfo node controls how fast the ink evaporates (disappears). In fact, if no texture mapping or an invalid one is given, the system will use a default general mapping.Īn example of a textured floor used with a robot equipped with a pen is given in the "pen.wbt" example world (located in the "projects/samples/devices/worlds" directory of Webots). In case of IndexedFaceSet, the precision can be improved by defining a texture mapping and setting the texCoord and texCoordIndex fields. On the other hand, with a poor texture mapping, the painted area could be shown at a different position than the expected one. The precision of the painting action mainly depends on the subdivision field of the Geometry node.Ī high subdivision value increases the number of polygons used to represent the geometry and thus allows a more precise texture mapping, but it will also slow down the rendering of the scene. The painted layer is applied over the texture without modifying it. In order to be paintable, an object should be made up of a Solid node containing a Shape with a valid Geometry and an ImageTexture. If maxDistance is set to 0 (default value), the range will be unlimited. So, it can be adjusted by modifying the rotation and translation fields of the Solid node.īy setting the maxDistance field is possible to define the range of the Pen and paint only on objects close to the device.įor example with a small value of maxDistance you can simulate the real behavior of a pen or pencil that writes only on physical contact. The paint direction of the Pen device coincides with the -z-axis of the node. The Pen node models a pen attached to a mobile robot, typically used to show the trajectory of the robot.
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