<span style="color: #7a4707; font-family: 'Courier New', courier, monaco, monospace; white-space: pre;"><meta name="robots" content="noindex" /></span> --peng 1/14/2014 ------------------------------------------------------------------------------------------- --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 empty_environment 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; 0.29 rps is 17 dps, 0.17 rps is 10 dps CONST REAL Tol=500.0 CONST REAL VelGain=1.5 CONST REAL DropOff=2000.0 -- include the CNL definitions PARS INCLUDE newcnl -- include robot 1 definitions PARS INCLUDE robot1 -- constants for the mission CONST NORM P01=(P01mean,P01var) --* Robot 1 initial position distribution CONST VEC2F P01mean=(5500,500) CONST VEC4F P01var=(500,0,0,500) CONST VEC2F V0=(0,0) --* initial velocity CONST VEC2F G1=(18000,500) -- 12m, 40 s at 0.3 m/s CONST VEC2F G2=(17500,13000) -- 12m, 40 s at 0.3 ms/ CONST VEC2F Gr=(18000,13000) 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) ------------------------------------------------------- Mission (piM,obM,siM,hM,odM)(voM) = Coop<1,1,1,G1,Z0,Z0,Tol,G1>(odM,cV101,cC101,cC102)(voM) | Move_to<G1,DropOff,VelGain,Tol,G1>(odM)(cV101) | Noise<Z0,G1,Tol,G1>(odM)(cC101) | Avoid_Obstacles<Z0,G1,Tol,G1>(odM,obM)(cC102) | (Is_at_goal<G1,Tol,G1>(odM); Spin<G90R>(hM)(voM,alt)) | (Is_at_goal<G1,Tol,G1>(odM); Spin_done(alt); Coop<1,1,1,G2,Z0,Z0,Tol,G2>(odM,cV201,cC201,cC202)(voM)) | (Is_at_goal<G1,Tol,G1>(odM); Spin_done(alt); Move_to<G2,DropOff,VelGain,Tol,G2>(odM)(cV201)) | (Is_at_goal<G1,Tol,G1>(odM); Spin_done(alt); Noise<Z0,G2,Tol,G2>(odM)(cC201)) | (Is_at_goal<G1,Tol,G1>(odM); Spin_done(alt); Avoid_Obstacles<Z0,G2,Tol,G2>(odM,obM)(cC202)) . ----------------------------------------------------------------------------------------- ----------------------------------------------------------------------------------------- --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) . ------------------------------------------------------------------------------------------- -- NO GOAL PROCESS NETWORK DEFINED - GOAL IS BY TERMINATION -- (c) Fordham University Robotics and Computer Vision
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Topic revision: r1 - 2015-01-16 - PengTang
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