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Paper in [pdf],[ps.gz]
To play around:
- Input the number of agents,
- Click on either the 'make rendezvous' or the 'make diverging' button,
- Click on the 'launch simulation' button, watch, and enjoy!
Please note that the above semi-automated process set the parameters loosely.
If you have read the paper and want to explore more, here are the brief
meaning of the parameters (although 'time step' is counted in seconds, it is only
relative; 'UI update delay' is in actual seconds):
- number of agents: Total number of agents in the system initially,
- initial range: Side length, in units, of the bounding square of the simulation window,
- line speed: Line speed of all the agents that are moving,
- angular velocity: Angular velocity when an agent is turning,
- threshold angle: Half of the vehicle windshield span,
- time step: Time step between system updates (where an agent is and whether it is turning),
- steps per UI update: Number of time steps between UI updates,
- UI update dealy: Actual time, in seconds, between UI updates,
- merge radius: Minimum distance between two agents when an agent can merge with its target,
- tree/cyclic: Tree assignment or cyclic assignment,
- Lyapunov function: The Lyapunov function to be used for plotting.
Closing the browser will close all simulation windows.
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