PARS-MShu1Old < Main

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--singlerobot goes a straight line

--peng 1/14/2014
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--TSS Result variables and parameters 

--Definition here has highest precedence (can be specified here or via command line args)

TSS RESULT-VAR posR1

TSS RESULT-VAR oposR1

-- include atomic definitions

PARS INCLUDE atomic

-- include environment model

PARS INCLUDE environment

CONST REAL AngSpeed=0.29

CONST REAL Tstep=1.0            -- discrete time step of environment model

CONST REAL MaxSpeed=300.0          -- multiplier for position difference unit vector

CONST REAL BaseSpeed=200.0          -- multiplier for position difference unit vector

-- include robot 1 definitions

PARS INCLUDE robot1

-- include the CNL definitions

PARS INCLUDE cnl

-- constants for the mission

CONST NORM  P01=(P01mean,P01var)   --* Robot 1 initial position distribution

 CONST VEC2F P01mean=(5500,5000)

 CONST VEC4F P01var=(500,0,0,500)

CONST VEC2F V0=(0,0)               --* initial velocity

CONST VEC2F G1=(17500,5000)

CONST VEC2F Gr=(18000,5000)

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)


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Mission (piM,obM,siM,hM,odM)(voM) =
         
    Coop<1,1,1,G1>(odM,cV101,cC101,cC102)(voM) |

    Move_to<G1,2000,1.5>(odM)(cV101) |

    Noise<Z0,G1>(odM)(cC101) |

    Avoid_Obstacles<Z0,G1>(odM,obM)(cC102) .
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--System is the concurrent composition of controller (Mission) and environment (Robots)

SYS =   Mission (cPOS,cOB,cSEN,cHEAD,cOPOS)(cVEL) |

    Robot1<P01,Z0R1,H0R1,Z0R1,H0R1mean,P01>(cVEL)(cPOS,cOB,cSEN,cHEAD,cOPOS) .

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-- NO GOAL PROCESS NETWORK DEFINED - GOAL IS BY TERMINATION

-- (c) Fordham University Robotics and Computer Vision
Topic revision: r1 - 2015-01-16 - PengTang