Swarm: rename vicsek to vasarhelyi

lis-epfl · Dec 9, 2020 · e33f52c · e33f52c
1 parent 4443909
commit e33f52c
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Showing 12 changed files with 18 additions and 17 deletions.
diff --git a/@Swarm/Swarm.m b/@Swarm/Swarm.m
@@ -203,9 +203,10 @@ function update_state(self, wind, time)
         %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
         function [vel_commands, collisions] = update_command(self, p_swarm, r_coll, dt)
 
-            if self.algorithm == "vicsek" % Vicsek swarming algorithm
-                [vel_commands, collisions] = self.compute_vel_vicsek(p_swarm, r_coll, dt);
-            elseif self.algorithm == "olfati_saber"% Olfati-Saber swarming algorithm
+            % Select the swarm algorithm and call the associated update
+            if self.algorithm == "vasarhelyi"
+                [vel_commands, collisions] = self.compute_vel_vasarhelyi(p_swarm, r_coll, dt);
+            elseif self.algorithm == "olfati_saber"
                 [vel_commands, collisions] = self.compute_vel_olfati_saber(p_swarm, r_coll, dt);
             end
             if isempty(self.collisions_history)

diff --git a/@Swarm/compute_vel_vicsek.m → @Swarm/compute_vel_vasarhelyi.m b/@Swarm/compute_vel_vicsek.m → @Swarm/compute_vel_vasarhelyi.m
@@ -1,4 +1,4 @@
-function [V_command, collisions] = compute_vel_vicsek(self, p_swarm, r_agent, dt)
+function [V_command, collisions] = compute_vel_vasarhelyi(self, p_swarm, r_agent, dt)
 
     %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
     % VICSEK SWARMING ALGORITHM

diff --git a/README.md b/README.md
@@ -106,8 +106,8 @@ The GUI allows for run-time changes of some parameters, such as the swarm direct
 To start off with your first drone swarm simulation, open the project folder <i>swarmlab</i> in Matlab (see picture aside). Then, add all folders and subfolders to the current path (select the swarmlab folder → right-click → Add to Path → Selected Folders and Subfolders). 
 You have two ways of running your simulations, either via the provided GUIs or by calling an example script.
  * For the GUI, type `GUI_drone` or `GUI_swarm` on the Matlab command view, select the parameters you want and slide to `On` the _Start Simulation_ button.
- * For running an example, type `example_vicsek`
-For editing the example scripts, go to examples → examples_swarm, and open the <i>example_vicsek.m</i> script.
+ * For running an example, type `example_vasarhelyi`
+For editing the example scripts, go to examples → examples_swarm, and open the <i>example_vasarhelyi.m</i> script.
 </p>
 
 Finally, simply run the script and pay attention to the prompted instructions!

diff --git a/enumerators/SwarmAlgorithm.m b/enumerators/SwarmAlgorithm.m
@@ -1,7 +1,7 @@
 classdef SwarmAlgorithm	
     % This class (enumerator) is meant to manage the Swarm algorithms:
-    % vicsek, olfati_saber, centr_nlmpc
+    % vasarhelyi, olfati_saber, centr_nlmpc
    enumeration	
-      vicsek, olfati_saber, centr_nlmpc
+      vasarhelyi, olfati_saber, centr_nlmpc
    end	
 end
diff --git a/examples/GUI_swarm.mlapp b/examples/GUI_swarm.mlapp
diff --git a/examples/examples_swarm/example_olfati_saber.m b/examples/examples_swarm/example_olfati_saber.m
@@ -14,7 +14,7 @@
 DEBUG = true;
 VIDEO = true;
 CENTER_VIEW_ON_SWARM = false; 
-SWARM_ALGORITHM = "olfati_saber"; % either vicsek or olfati_saber
+SWARM_ALGORITHM = "olfati_saber"; % either vasarhelyi or olfati_saber
 
 if DEBUG || VIDEO
     results_dirname = strcat('results/results_swarm');

diff --git a/examples/examples_swarm/example_vicsek.m → examples/examples_swarm/example_vasarhelyi.m b/examples/examples_swarm/example_vicsek.m → examples/examples_swarm/example_vasarhelyi.m
@@ -14,7 +14,7 @@
 DEBUG = true;
 VIDEO = true;
 CENTER_VIEW_ON_SWARM = false;
-SWARM_ALGORITHM = "vicsek"; % either vicsek or olfati_saber
+SWARM_ALGORITHM = "vasarhelyi"; % either vasarhelyi or olfati_saber
 
 if DEBUG || VIDEO
     results_dirname = strcat('results/results_swarm');
@@ -39,7 +39,7 @@
     DRONE_TYPE = app.drone_type;
 
     % Swarming parameters
-    SWARMING_ALGO = "vicsek";
+    SWARMING_ALGO = "vasarhelyi";
     p_swarm.nb_agents = app.nb_agents;
     p_swarm.d_ref = app.d_ref;
     p_swarm.v_ref = app.v_ref;

diff --git a/parameters/param_swarm/param_vicsek.m → parameters/param_swarm/param_vasarhelyi.m b/parameters/param_swarm/param_vicsek.m → parameters/param_swarm/param_vasarhelyi.m
diff --git a/tests/example_co_mn.m b/tests/example_co_mn.m
@@ -1,6 +1,6 @@
 function output_collisions = example_co_mn(SWARM_ALGORITHM, max_neig, nb_agents, end_time)
 
-    %% Running example_vicsek.m
+    %% Running example_vasarhelyi.m
     DRONE_TYPE = "point_mass";
     ACTIVE_ENVIRONMENT = false;
     DEBUG = false;

diff --git a/tests/example_ct.m b/tests/example_ct.m
@@ -2,7 +2,7 @@
 
     t_start = tic;
 
-    %% Running example_vicsek.m
+    %% Running example_vasarhelyi.m
 
     ACTIVE_ENVIRONMENT = false;
     DEBUG = false;

diff --git a/tests/test_comp_time.m b/tests/test_comp_time.m
@@ -12,7 +12,7 @@
 
 end_time = 10; % p_sim to evaluate 
 iterations = 1;
-algo_array = ["vicsek", "olfati_saber"];
+algo_array = ["vasarhelyi", "olfati_saber"];
 drone_array = ["point_mass", "quadcopter"];
 nb_agents_array = [2, 4, 8, 16, 32, 64, 128, 256, 512, 1024]; % nb_agents to evaluate  
 ct = zeros(length(iterations), length(algo_array), length(drone_array), length(nb_agents_array));

diff --git a/tests/test_max_neig_vs_collisions.m b/tests/test_max_neig_vs_collisions.m
@@ -8,7 +8,7 @@
 %% Initialization
 
 end_time = 500; % p_sim to evaluate 
-algo_array = ["vicsek", "olfati_saber"];
+algo_array = ["vasarhelyi", "olfati_saber"];
 neig_array = [2, 4, 8, 16, 32, 64];
 nb_agents = 64; 
 co_mn = zeros(3, length(algo_array), length(neig_array));
@@ -43,7 +43,7 @@
 xlabel('Number of max neighbours')
 ylabel('Collisions')
 grid on
-legend('vicsek', 'olfati-saber', 'Location', 'northwest')    
+legend('vasarhelyi', 'olfati-saber', 'Location', 'northwest')    
 
 figure
 
@@ -60,7 +60,7 @@
 xlabel('Number of max neighbours')
 ylabel('Collisions')
 grid on
-legend('vicsek', 'olfati-saber', 'Location', 'northwest')   
+legend('vasarhelyi', 'olfati-saber', 'Location', 'northwest')   
 %%
 
 disp('Computational time analysis completed successfully')