MARS: An Educational Environment for Multiagent Robot Simulations

Algorithm 2

Matlab code implementing the illustrative example of Section 4.

1 function [Command,Exp]=Example_random(Exp,Initialization)

2

3 if Initialization

4     Exp.Robots=2;

5     Exp.Workspace=[0 0; 0 10; 10 10; 10 0];

6     Exp.Animation.Title=’[Random movements]’;

7     Exp.Initial_pose=[1 3 0; 9 7 pi]’;

8     Exp.Animation.Grid=0;

9

10    Exp.Addons=’Map’;

11    V(1).Vertex=[ 5 2; 4 3; 6 4; 5 3];

12    V(2).Vertex=[ 4 5; 3 7; 2 8; 1 6; 2 5];

13    V(3).Vertex=[ 6 6; 7 7; 8 6];

14    V(4).Vertex=[10 0; 10 10];

15    V(5).Vertex=[ 0 0; 0 10];

16    V(6).Vertex=[ 0 10; 10 10];

17    V(7).Vertex=[ 0 0; 10 0];

18    Exp.Map.Obstacle=V;

19

20     for i=1:Exp.Robots

21         Exp=Add_sensor(Exp,i,’ProximitySensor’);

22         Exp.Agent(i).Sensor(1).Range=0.3;

23     end

24

25     Command=[⁢]; return

26 end

27

28 for i=1:Exp.Robots

29       if Exp.Agent(i).Sensor(1).Presence

30           Command(:,i)=[-0.2; 0];

31       elseif (Exp.Iteration>1)&&(Exp.History.Command(Exp.Iteration-1,1,i))<0,

32           Command(:,i)=[0; pi/2+rand(1)*pi];

33       else

34           Command(:,i)=[0.2; 0];

35       end

36 end