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config.yaml
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config.yaml
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# decision_making: # Case 1
# plugin: plugins.grape.grape.GRAPE
# GRAPE:
# cost_weight_factor: 1.0
# social_inhibition_factor: 100
# initialize_partition: Distance # Options: None; Distance
# reinitialize_partition_on_completion: Distance # Options: None; Distance;
decision_making: # Case 2
plugin: plugins.cbba.cbba.CBBA
CBBA:
max_tasks_per_agent: 5
task_reward_discount_factor: 0.999
winning_bid_cancel: True
acceptable_empty_bundle_duration: 500 # sec
# decision_making: # Case 3
# plugin: plugins.greedy.greedy.FirstClaimGreedy
# FirstClaimGreedy:
# mode: MinDist # Options: Random; MinDist; MaxUtil
# weight_factor_cost: 10000.0 # Only used for `MaxUtil` mode
# enforced_collaboration: False
agents:
behavior_tree_xml: default_bt.xml
quantity: 10
locations:
x_min: 0
x_max: 1400
y_min: 0
y_max: 1000
non_overlap_radius: 0
max_speed: 0.25
max_accel: 0.05
max_angular_speed: 0.25
target_approaching_radius: 50
work_rate: 1 # work rate for each agent (per 1.0/simulation.sampling_freq)
communication_radius: 500 # 0 represents "global", meaning that each agent can access to the information of all the other agents
situation_awareness_radius: 500 # 0 represents "global", meaning that each agent can access to the information of all the tasks
random_exploration_duration: 1000.0 # sec
tasks:
quantity: 100
locations:
x_min: 0
x_max: 1400
y_min: 0
y_max: 1000
non_overlap_radius: 0
threshold_done_by_arrival: 10.0
amounts: # Added amounts range for tasks
min: 6.0
max: 60.0
dynamic_task_generation:
enabled: True
interval_seconds: 2000
max_generations: 3
tasks_per_generation: 25
simulation:
sampling_freq: 1.0
speed_up_factor: 0 # 0 mean max booster; 1 means normal; 10 means 10-times faster
max_simulation_time: 0 # 0 means no limit
agent_track_size: 400
screen_width: 1400
screen_height: 1000
gif_recording_fps: 0.05
task_visualisation_factor: 3 # visualization factor for tasks : 10 means converting 10 amount to 1 pixel
profiling_mode: False
rendering_mode: Screen # Options: Screen; Terminal; None
rendering_options: # Only works if `rendering_mode` is `Screen`
agent_tail: True
agent_communication_topology: True
agent_situation_awareness_circle: False
agent_id: True
agent_work_done: True
agent_assigned_task_id: True
agent_path_to_assigned_tasks: True
task_id: False
saving_options:
output_folder: output
with_date_subfolder: True
save_gif: False # Only works if `rendering_mode` is `Screen`
save_timewise_result_csv: True
save_agentwise_result_csv: True
save_config_yaml: True