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2016-06-17 23:41:22 -04:00
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.gitignore vendored Normal file
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*~
*#
*.o
ias-ss

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LICENSE Normal file
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Copyright (c) 2016, Miguel Angel Astor Romero
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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Makefile Normal file
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CXX = g++
TARGET = ias_ss
OBJECTS = ias_ss.o robot.o
CFLAGS = -ansi -pedantic -Wall -g `pkg-config --cflags playerc++` -g
LDLIBS = `pkg-config --libs playerc++` -lboost_system -lpthread
all: $(TARGET)
$(TARGET): $(OBJECTS)
$(CXX) $(CFLAGS) -o $(TARGET) $(OBJECTS) $(LDLIBS)
-include $(OBJECTS:.o=.d)
%.o: %.cpp
$(CXX) -c $(CFLAGS) $*.cpp -o $*.o
$(CXX) -MM $(CFLAGS) $*.cpp > $*.d
clean:
$(RM) $(TARGET) $(OBJECTS) *.d

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README.org Normal file
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* IAS-SS
** Abstract
IAS-SS (Inverse Ant System-based Surveillance System) is a [[http://playerstage.sourceforge.net/][Player/Stage]] based C++ implementation of the bio-inspired control architecture presented in the
following papers:
1) R. Calvo et al. "/Inverse ACO for Exploration and Surveillance in Unknown Environments/", The Third International Conference on Advanced Cognitive Technologies and Applications, Rome, Italy 2011.
2) R. Calvo et al. "/A Distributed, Bio-Inspired Coordination Strategy for Multiple Agent Systems Applied to Surveillance Tasks in Unknown Environments/", Proc. of the IEEE IJCNN, San Jose, USA, 2011.
This is being developed as part of the Robotics and Bio-Inspired Learning graduate course at UCV.
Future versions of this README file will include a technical report on the developed software.
** Notes
The file ~maps/cave.png~ is part of the standard Stage distribution.

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ant.cfg Normal file
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driver
(
name "stage"
plugin "stageplugin"
provides [ "simulation:0" ]
worldfile "ant.world"
)
driver
(
name "stage"
provides [ "6666:position2d:0" ]
model "ant_robot_1"
)
driver
(
name "stage"
provides [ "6667:position2d:0" ]
model "ant_robot_2"
)
driver
(
name "stage"
provides [ "6668:position2d:0" ]
model "ant_robot_3"
)
driver
(
name "stage"
provides [ "6669:position2d:0" ]
model "ant_robot_4"
)

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ant.world Normal file
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include "map.inc"
include "ant_bot.inc"
window
(
size [ 635.000 666.000 ] # in pixels
scale 36.995 # pixels per meter
center [ -0.040 -0.274 ]
rotate [ 0 0 ]
show_data 1 # 1=on 0=off
)
floorplan
(
bitmap "maps/cave.png"
size [ 16.000 16.000 1.000 ]
)
ant_bot
(
name "ant_robot_1"
pose [ -6.432 -5.895 0 45.000 ]
color "green"
)
ant_bot
(
name "ant_robot_2"
pose [ 6.432 -3.895 0 135.000 ]
color "green"
)
ant_bot
(
name "ant_robot_3"
pose [ -6.432 5.895 0 -45.000 ]
color "green"
)
ant_bot
(
name "ant_robot_4"
pose [ 6.432 5.895 0 -135.000 ]
color "green"
)

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ant_bot.inc Normal file
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define ant_bot position
(
block
(
points 6
point[0] [ 0.75 0 ]
point[1] [ 1 0.25 ]
point[2] [ 1 0.75 ]
point[3] [ 0.75 1 ]
point[4] [ 0 1 ]
point[5] [ 0 0 ]
z [ 0 0.45 ]
)
drive "diff"
localization "gps"
)

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ias_ss.cpp Normal file
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/*************************************************************************************
* Copyright (c) 2016, Miguel Angel Astor Romero *
* All rights reserved. *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
*************************************************************************************/
#include <vector>
#include <cstdio>
#include <cstdlib>
#include <csignal>
#include "robot.hpp"
const std::string HOST_NAME = "localhost";
const uint32_t PORT = 6666;
const uint32_t NUM_ROBOTS = 4;
extern "C" {
void * robot_thread(void * arg) {
IASSS_Robot * robot = static_cast<IASSS_Robot *>(arg);
std::cout << "Running robot thread." << std::endl;
robot->run();
return NULL;
}
}
int main(int argc, char **argv) {
pthread_t robot_threads[NUM_ROBOTS];
std::vector<IASSS_Robot *> robots;
try {
// Initialize the robot objects and threads.
for(uint32_t i = 0; i < NUM_ROBOTS; ++i) {
robots.push_back(new IASSS_Robot(HOST_NAME, PORT + i));
if(pthread_create(&robot_threads[i], NULL, robot_thread, static_cast<void *>(robots[i])) != 0) {
perror("Could not create robot thread");
return EXIT_FAILURE;
}
}
// Wait for all the robots to finish.
for(uint32_t i = 0; i < NUM_ROBOTS; ++i) {
if(pthread_join(robot_threads[i], NULL) != 0) {
perror("Could not join robot thread");
return EXIT_FAILURE;
}
delete robots[i];
}
robots.clear();
} catch (PlayerCc::PlayerError & e) {
std::cerr << e << std::endl;
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}

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map.inc Normal file
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define floorplan model
(
color "gray30"
boundary 1
gui_nose 0
gui_move 0
gui_outline 0
gripper_return 0
fiducial_return 0
ranger_return 1
)

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#include "robot.hpp"
Robot::Robot(std::string hostname, uint32_t port) {
_p_client = new PlayerCc::PlayerClient(hostname, port);
_p_proxy = new PlayerCc::Position2dProxy(_p_client, 0);
}
Robot::~Robot() {
delete _p_proxy;
delete _p_client;
}
IASSS_Robot::IASSS_Robot(std::string hostname, uint32_t port) : Robot(hostname, port) {
std::cout << "Creating IAS-SS robot on host \"" << hostname << "\" and port " << port << "." << std::endl;
}
IASSS_Robot::~IASSS_Robot() {
std::cout << "Destroying IAS-SS robot." << std::endl;
}
void IASSS_Robot::run() {
sleep(10);
}

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/*************************************************************************************
* Copyright (c) 2016, Miguel Angel Astor Romero *
* All rights reserved. *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions are met: *
* *
* 1. Redistributions of source code must retain the above copyright notice, this *
* list of conditions and the following disclaimer. *
* 2. Redistributions in binary form must reproduce the above copyright notice, *
* this list of conditions and the following disclaimer in the documentation *
* and/or other materials provided with the distribution. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND *
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE *
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR *
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES *
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; *
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND *
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS *
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *
*************************************************************************************/
#ifndef ROBOT_HPP
#define ROBOT_HPP
#include <iostream>
#include <string>
#include <libplayerc++/playerc++.h>
/**
* Base class for robot types.
*/
class Robot {
public:
Robot(std::string hostname, uint32_t port);
virtual ~Robot();
virtual void run() = 0;
protected:
PlayerCc::PlayerClient * _p_client;
PlayerCc::Position2dProxy * _p_proxy;
};
/**
* Concrete robot that implements the IAS-SS architecture as defined in:
*
* 1) R. Calvo et al. "Inverse ACO for Exploration and Surveillance in
* Unknown Environments", The Third International Conference on Advanced
* Cognitive Technologies and Applications, Rome, Italy 2011.
*
* 2) R. Calvo et al. "A Distributed, Bio-Inspired Coordination Strategy
* for Multiple Agent Systems Applied to Surveillance Tasks in Unknown
* Environments", Proc. of the IEEE IJCNN, San Jose, USA, 2011.
*/
class IASSS_Robot : Robot{
public:
IASSS_Robot(std::string hostname, uint32_t port);
virtual ~IASSS_Robot();
virtual void run();
};
#endif