OpenLoopTwoRobotTargetLocalization

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OpenLoopTwoRobotTargetLocalizationmodel <h2>DE Director</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>400</td><td>400.0</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>Plots</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>Nparticles</td><td>400</td><td>400</td></tr><tr><td>target_pos</td><td>{x = -12.0, y = 4.0}</td><td>{x = -12.0, y = 4.0}</td></tr></table> <h2>Robot2</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>initialPosition</td><td>{x=0.0, y=0.0}</td><td>{x = 0.0, y = 0.0}</td></tr><tr><td>currentPosition</td><td>{x = 5.5757980227502, y = 14.0828582440573}</td><td>{x = 5.5757980227502, y = 14.0828582440573}</td></tr></table> <h2>Robot1</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>initialPosition</td><td>{x=0.0, y=10.0}</td><td>{x = 0.0, y = 10.0}</td></tr><tr><td>currentPosition</td><td>{x = 14.4770460276678, y = -11.3023263347822}</td><td>{x = 14.4770460276678, y = -11.3023263347822}</td></tr></table> <h2>ParticleFilter1</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>stateVariableNames</td><td>{&quot;x&quot;,&quot;y&quot;}</td><td>{&quot;x&quot;, &quot;y&quot;}</td></tr><tr><td>bootstrap</td><td>true</td><td>true</td></tr><tr><td>lowVarianceSampler</td><td>false</td><td>false</td></tr><tr><td>particleCount</td><td>2000</td><td>2000</td></tr><tr><td>outputParticleCount</td><td>Nparticles</td><td>400</td></tr><tr><td>processNoise</td><td>multivariateGaussian({0.0,0.0},[1.0,0.4;0.4,1.2])</td><td>{-0.3524641414461, 0.8983316453912}</td></tr><tr><td>prior</td><td>{random()*40-20,random()*40-20}</td><td>{19.3047573385768, 15.2704976565134}</td></tr><tr><td>measurementCovariance</td><td>[0.5]</td><td>[0.5]</td></tr><tr><td>x</td><td>-11.638325538448013</td><td>-11.638325538448</td></tr><tr><td>y</td><td>3.637903792470185</td><td>3.6379037924702</td></tr><tr><td>z</td><td>sqrt( (robot_position2.x-x)^2+(robot_position2.y- y)^2)</td><td>30.0869258697454</td></tr><tr><td>x_update</td><td>x</td><td>-11.638325538448</td></tr><tr><td>y_update</td><td>y</td><td>3.6379037924702</td></tr><tr><td>z_m</td><td>30.7354525349417</td><td>30.7354525349417</td></tr></table> <h2>Controller1</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>A</td><td>1</td><td>1</td></tr><tr><td>freq</td><td>0.01</td><td>0.01</td></tr><tr><td>control_input</td><td>{x = 0.3090169943749, y = 0.9510565162952}</td><td>{x = 0.3090169943749, y = 0.9510565162952}</td></tr></table> <h2>Controller2</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>A</td><td>1</td><td>1</td></tr><tr><td>freq</td><td>0.02</td><td>0.02</td></tr><tr><td>control_input</td><td>{x = -0.8090169943749, y = 0.5877852522925}</td><td>{x = -0.8090169943749, y = 0.5877852522925}</td></tr></table> <h2>ParticleFilter2</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>stateVariableNames</td><td>{&quot;x&quot;,&quot;y&quot;}</td><td>{&quot;x&quot;, &quot;y&quot;}</td></tr><tr><td>bootstrap</td><td>true</td><td>true</td></tr><tr><td>lowVarianceSampler</td><td>false</td><td>false</td></tr><tr><td>particleCount</td><td>2000</td><td>2000</td></tr><tr><td>outputParticleCount</td><td>Nparticles</td><td>400</td></tr><tr><td>processNoise</td><td>multivariateGaussian({0.0,0.0},[1.0,0.4;0.4,1.2])</td><td>{-1.1116825550017, -0.0379431009696}</td></tr><tr><td>prior</td><td>{random()*40-20,random()*40-20}</td><td>{17.5163510201564, -4.3503026793305}</td></tr><tr><td>measurementCovariance</td><td>[0.5]</td><td>[0.5]</td></tr><tr><td>x</td><td>-11.154640986852456</td><td>-11.1546409868525</td></tr><tr><td>y</td><td>3.6281211142228513</td><td>3.6281211142229</td></tr><tr><td>z</td><td>sqrt( (robot_position1.x-x)^2+(robot_position1.y- y)^2)</td><td>19.7283835604434</td></tr><tr><td>x_update</td><td>x</td><td>-11.1546409868525</td></tr><tr><td>y_update</td><td>y</td><td>3.6281211142229</td></tr><tr><td>z_m</td><td>20.3379251504732</td><td>20.3379251504732</td></tr></table>