MultiRobotIntruderTracking

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MultiRobotIntruderTrackingmodel <h2>WirelessDirector</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>startTime</td><td>&nbsp;</td><td>null</td></tr><tr><td>stopTime</td><td>60</td><td>60.0</td></tr><tr><td>stopWhenQueueIsEmpty</td><td>true</td><td>true</td></tr><tr><td>synchronizeToRealTime</td><td>false</td><td>false</td></tr><tr><td>enforceMicrostepSemantics</td><td>false</td><td>false</td></tr></table> <h2>InstanceOfRobot</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>Rz_init</td><td>0</td><td>0</td></tr><tr><td>Y_init</td><td>-100</td><td>-100</td></tr><tr><td>X_init</td><td>100</td><td>100</td></tr><tr><td>V_in</td><td>10</td><td>10</td></tr><tr><td>W_in</td><td>36*3.14/180</td><td>0.628</td></tr><tr><td>RobotID</td><td>0</td><td>0</td></tr><tr><td>CurrentMeasurement</td><td>{ID = 0, estimatedIntruderPosition = [-0.6086409560721, 200.0038773141714], intruderCovariance = [99.9999782973995, 0.0441954021584; 0.0441954021584, 10.0000217026005], robotPosition = [168.9447025356928, 200.0871382031703], time = 60.0}</td><td>{ID = 0, estimatedIntruderPosition = [-0.6086409560721, 200.0038773141714], intruderCovariance = [99.9999782973995, 0.0441954021584; 0.0441954021584, 10.0000217026005], robotPosition = [168.9447025356928, 200.0871382031703], time = 60.0}</td></tr><tr><td>N_Particles</td><td>100</td><td>100</td></tr></table> <h2>ControlValRelayer</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>defaultProperties</td><td>{}</td><td>{}</td></tr><tr><td>name</td><td>&nbsp;</td><td>&nbsp;</td></tr></table> <h2>MeasurementRelayer</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>defaultProperties</td><td>{}</td><td>{}</td></tr><tr><td>name</td><td>&nbsp;</td><td>&nbsp;</td></tr></table> <h2>InstanceOfRobot3</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>Rz_init</td><td>0</td><td>0</td></tr><tr><td>Y_init</td><td>400</td><td>400</td></tr><tr><td>X_init</td><td>0</td><td>0</td></tr><tr><td>V_in</td><td>0</td><td>0</td></tr><tr><td>W_in</td><td>0</td><td>0</td></tr><tr><td>RobotID</td><td>1</td><td>1</td></tr><tr><td>CurrentMeasurement</td><td>{ID = 1, estimatedIntruderPosition = [-0.6086409560721, 200.0038773141714], intruderCovariance = [99.9487131113048, -2.1478337080913; -2.1478337080913, 10.0512868886952], robotPosition = [-217.2221498903179, 205.1762670018504], time = 60.0}</td><td>{ID = 1, estimatedIntruderPosition = [-0.6086409560721, 200.0038773141714], intruderCovariance = [99.9487131113048, -2.1478337080913; -2.1478337080913, 10.0512868886952], robotPosition = [-217.2221498903179, 205.1762670018504], time = 60.0}</td></tr><tr><td>N_Particles</td><td>100</td><td>100</td></tr></table> <h2>InstanceOfIntruder</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>Y_init</td><td>200</td><td>200</td></tr><tr><td>Rz_init</td><td>0</td><td>0</td></tr><tr><td>W_in</td><td>24*3.14/180</td><td>0.4186666666667</td></tr><tr><td>X_init</td><td>0</td><td>0</td></tr><tr><td>V_in</td><td>20</td><td>20</td></tr><tr><td>value</td><td>Intruder._location.getLocation()</td><td>{230.0, 200.0}</td></tr></table> <h2>PositionRelayer</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>defaultProperties</td><td>{}</td><td>{}</td></tr><tr><td>name</td><td>&nbsp;</td><td>&nbsp;</td></tr></table>