agents

Parameters

behavior_tree_xml:

Type	Default
String	“default_bt.xml”

Description

Specifies the behavior tree XML file that defines the behavior of agents.

quantity:

Type	Default
Integer	N/A

Description

Specifies the number of agents to be created in the simulation.

locations:

Description

Specifies the area where agents are uniformly randomly generated in the simulation.

• x_min: Minimum x-coordinate for agent placement. (Default: 0)

• x_max: Maximum x-coordinate for agent placement. (Default: 1400)

• y_min: Minimum y-coordinate for agent placement. (Default: 0)

• y_max: Maximum y-coordinate for agent placement. (Default: 1000)

• non_overlap_radius: Minimum distance between agents to avoid initial overlap. (Default: 0) Note: A non-zero value may increase simulation initialization time. For optimal performance, use the default value.

max_speed:

Type	Default
Float	0.25

Description

Maximum speed an agent can achieve. 0.25 means that the agent can move 0.25 pixels per simulation-time second (not real-time second).

max_accel:

Type	Default
Float	0.05

Description

Maximum acceleration an agent can achieve. 0.05 means the agent can increase 0.05 pixels per simulation-time second squared.

max_angular_speed:

Type	Default
Float	0.25

Description

Maximum angular speed (rotation speed) of an agent. 0.25 means that the agent can rotate at 0.25 radian per simulation-time second (not real-time second).

target_approaching_radius:

Type	Default
Float	50.0

Description

Distance within which an agent starts slowing down as it approaches its target.

work_rate:

Type	Default
Float	1.0

Description

The rate at which an agent completes its assigned tasks (in simulation time).

communication_radius:

Type	Default
Float	500.0

Description

The maximum distance within which each agent can communicate with other agents. Setting 0 means the agent can communicate with all other agents.

situation_awareness_radius:

Type	Default
Float	500.0

Description

The maximum distance within which each agent is aware of tasks. Setting 0 means the agent can perceive all tasks.

random_exploration_duration:

Type	Default
Float	1000.0

Description

Specifies the duration (in simulation time) during which agents continuously travel towards a randomly chosen position. This behavior occurs when agents are not assigned any tasks, was implemented at ExplorationNode. The agent will maintain this movement towards the random position for the specified duration before being assigned a task by the decision-making plugin.

Example

agents:
  behavior_tree_xml: default_bt.xml
  quantity: 10
  locations:
    x_min: 0
    x_max: 1400
    y_min: 0
    y_max: 1000
    non_overlap_radius: 0
  max_speed: 0.25
  max_accel: 0.05
  max_angular_speed: 0.25
  target_approaching_radius: 50
  work_rate: 1
  communication_radius: 500
  situation_awareness_radius: 500
  random_exploration_duration: 1000.0