basicBehaviors.h File Reference

Basic swarm functionality behaviors. More...

Go to the source code of this file.

Functions
Beh *	behFlock (Beh *behPtr, NbrList *nbrListPtr, int32 tv)
	Robots flock together. More...
int32	behFlockAngle (NbrList *nbrListPtr)
	Computes the flock angle. More...
Beh *	behOrbit (Beh *behPtr, Nbr *nbrPtr, int32 tv)
	Robot orbits the input neighbor. More...
Beh *	behFollowPredesessor (Beh *behPtr, NbrList *nbrListPtr, int32 tv)
	Follow robot whose ID is larger than yours. More...
Beh *	behWallFollow (Beh *behPtr, NbrList *nbrListPtr, uint32 tv)
	Robot follows a wall. More...
Beh *	behClusterBroadcast (Beh *behPtr, NbrList *nbrListPtr, int32 tv, BroadcastMessage *msgPtr)
	Moves robot towards other robots broadcasting a message. More...
Beh *	rvBearingController (Beh *behPtr, int32 angle, int32 gain)
	Rotate the robot to a given bearing using a proportional controller. More...
Beh *	behMoveForward (Beh *behPtr, int32 tv)
	Simple Behavior: move straight forward (no turning) More...
Beh *	behBearingController (Beh *behPtr, int32 angle)
	Rotate the robot to a given bearing using a proportional controller. More...
Beh *	behMoveToNbr (Beh *behPtr, Nbr *nbrPtr, int32 tv)
	Moves robot towards specified neighbor. More...
Beh *	behMoveFromNbr (Beh *behPtr, Nbr *nbrPtr, int32 tv)
	Moves robot away from specified neighbor. More...

Detailed Description

Basic swarm functionality behaviors.

This includes remote control, flocking, wall following, and follow-the-leader.

Since

September 28, 2011

Author

James McLurkin

Function Documentation

Beh* behBearingController	(	Beh *	behPtr,
		int32	angle
	)

Rotate the robot to a given bearing using a proportional controller.

Parameters

behPtr	behavior that is updated by this function
angle	the robot should rotate to

Returns

updated behPtr

Beh* behClusterBroadcast	(	Beh *	behPtr,
		NbrList *	nbrListPtr,
		int32	tv,
		BroadcastMessage *	msgPtr
	)

Moves robot towards other robots broadcasting a message.

Parameters

behPtr	behavior that is updated by this function
nbrListPtr	list of neighbors
tv	desired translational velocity
msgPtr

Returns

updated behPtr

Beh* behFlock	(	Beh *	behPtr,
		NbrList *	nbrListPtr,
		int32	tv
	)

Robots flock together.

Parameters

behPtr	behavior that is updated by this function
nbrListPtr	list of neighbors
tv	desired translational velocity

Returns

updated behPtr

int32 behFlockAngle

(

NbrList *

nbrListPtr)

Computes the flock angle.

Parameters

nbrListPtr

list of neighbors

Returns

flock angle or 0 if there are no neighbors

Beh* behFollowPredesessor	(	Beh *	behPtr,
		NbrList *	nbrListPtr,
		int32	tv
	)

Follow robot whose ID is larger than yours.

Parameters

behPtr	behavior that is updated by this function
nbrListPtr	list of neighbors
tv	desired translational velocity

Returns

updated behPtr

Beh* behMoveForward	(	Beh *	behPtr,
		int32	tv
	)

Simple Behavior: move straight forward (no turning)

Parameters

behPtr	behavior that is updated by this function
tv	desired translational velocity

Returns

updated behPtr

Beh* behMoveFromNbr	(	Beh *	behPtr,
		Nbr *	nbrPtr,
		int32	tv
	)

Moves robot away from specified neighbor.

Parameters

behPtr	behavior that is updated by this function
nbrPtr	for neighbor
tv	desired translational velocity

Returns

updated behPtr

Beh* behMoveToNbr	(	Beh *	behPtr,
		Nbr *	nbrPtr,
		int32	tv
	)

Moves robot towards specified neighbor.

Parameters

behPtr	behavior that is updated by this function
nbrPtr	for neighbor
tv	desired translational velocity

Returns

updated behPtr

Beh* behOrbit	(	Beh *	behPtr,
		Nbr *	nbrPtr,
		int32	tv
	)

Robot orbits the input neighbor.

Parameters

behPtr	behavior that is updated by this function
nbrPtr	neighbor to be orbited
tv	desired translational velocity

Returns

updated behPtr

Beh* behWallFollow	(	Beh *	behPtr,
		NbrList *	nbrListPtr,
		uint32	tv
	)

Robot follows a wall.

Parameters

behPtr	behavior that is updated by this function
nbrListPtr	for list of neighbors
tv	desired translational velocity

Returns

updated behPtr

Beh* rvBearingController	(	Beh *	behPtr,
		int32	angle,
		int32	gain
	)

Rotate the robot to a given bearing using a proportional controller.

Parameters

behPtr	behavior that is updated by this function
angle	the robot should rotate to
gain	positive value governing how quickly the robot adjusts

Returns

updated behPtr