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TSS RESULT-VAR posR1 TSS RESULT-VAR posR2 TSS RESULT-VAR oposR1 TSS RESULT-VAR oposR2 -- include atomic definitions PARS INCLUDE atomic -- include environment model PARS INCLUDE two_obstacles_environment -- * Some Constants * CONST REAL Tstep=1.0 -- discrete time step of environment model CONST REAL MaxSpeed=300.0 -- speed in mm per timestep CONST REAL BaseSpeed=200.0 -- speed in mm per timestep CONST REAL AngSpeed=0.29 -- angular velocity in radians per timestep CONST VEC2F SIGNAL1=(5,5) --arbitrarily-valued flag variable CONST VEC2F SIGNAL2=(5,5) --arbitrarily-valued flag variable -- initial configuration of the robots CONST NORM P01=(P01mean,P01var) --* Robot 1 initial position distribution CONST VEC2F P01mean=(5500,2000) --testing CONST VEC4F P01var=(500,0,0,500) CONST NORM P02=(P02mean,P02var) --* Robot 2 initial position distribution CONST VEC2F P02mean=(6500,2000) --testing CONST VEC4F P02var=(500,0,0,500) CONST VEC2F V0=(0,0) --* initial velocity --New goal locations created by subtracting goal_Tolerance value from actual waypoint --along the axis of travel. --CONST VEC2F G1=(9500,6000) CONST VEC2F G1=(9000,6000) --CONST VEC2F G2=(11500,4000) CONST VEC2F G2=(11000,4000) --CONST VEC2F G3=(17000,6000) CONST VEC2F G3=(16500,6000) --CONST VEC2F G4=(19500,4000) CONST VEC2F G4=(19000,4000) CONST VEC2F G5=(16500,11000) CONST VEC2F G5r=(16500,11500) --the real final waypoint (no tolerances subtracted) for use with IAP CONST VEC2F G6=(19000,12500) CONST VEC2F G6r=(19000,13000) --the real final waypoint -- dml 4/14/14 - needed to define different init values for the two robots -- so they could be started seperately, but also so indep static analysis catches connections CONST NORM Z0=(Z0mean,Z0var) CONST VEC2F Z0mean=(0.0,0.0) CONST VEC4F Z0var=(0,0,0,0) CONST NORM Z0R1=(Z0mean,Z0var) CONST NORM Z0R2=(Z0mean,Z0var) CONST NORM H0=(H0R1mean,H0var) CONST VEC2F H0R1mean=(1.0,0.0) --* initial heading unit vector CONST VEC4F H0var=(0,0,0,0) CONST NORM H0R1=(H0R1mean,H0var) CONST NORM H0R2=(H0R2mean,H0var) CONST VEC2F H0R2mean=(1.0,0.0) --* initial heading unit vector -- include the CNL definitions PARS INCLUDE cnl -- include robot definitions PARS INCLUDE robot1OA PARS INCLUDE robot2OA -- MP processes to make message-passing more explicit----------------------- TYPE VEC2F putVal TYPE VEC2F gotVal TYPE VEC2F check Put_message Mission (piM,piM2,obM,obM2,siM,siM2,hM,hM2,odM,odM2)(voM,voM2) = Coop<1,1,1,G1>(odM2,cV101,cC101,cC102)(voM2) | Move_to<G1,2000,1.5>(odM2)(cV101) | Noise<Z0,G1>(odM2)(cC101) | Avoid_Obstacles<Z0,G1>(odM2,obM2)(cC102) | (Is_at_goal --System is the concurrent composition of controller (Mission) and environment (Robots) SYS = Mission (cPOS,cPOS2,cOB,cOB2,cSEN,cSEN2,cHEAD,cHEAD2,cOPOS,cOPOS2)(cVEL,cVEL2) | Robot1<P01,P02,Z0R1,H0R1,Z0R1,H0R1mean,P01>(cVEL,cSH2)(cPOS, cSH1, cOB, cSEN,cHEAD,cOPOS) | Robot2<P02,P01,Z0R2,H0R2,Z0R2,H0R2mean,P02>(cVEL2,cSH1)(cPOS2,cSH2, cOB2,cSEN2,cHEAD2,cOPOS2) . -- NO GOAL PROCESS NETWORK DEFINED - GOAL IS BY TERMINATION -- (c) Fordham University Robotics and Computer Vision |