swarm-hashgraph

This repository is an implementation of the framework for hashgraph-based swarm robotics. There are two case studies in this repository, one is black-white ratio estimation and the other is object searching. The corresponding article: A Fast and Robust Solution for Common Knowledge Formation in Decentralized Swarm Robots.https://link.springer.com/article/10.1007/s10846-022-01759-1

Requirements

Ubuntu18.04, Webots 2021a

Requirements of py-swirld installation refers to https://github.com/Lapin0t/py-swirld

Install

#

git clone https://github.com/luoxiaojie9527/swarm-hashgraph.git

Usage

Take object-searching for example

1. Launch the Hashgrpah process

   #

   cd object_searching/controllers/py-swirld-object-searching/ python swirldsRestart.py
2. Launch the Webots simulator by click the webots icon
3. In Webots simulator, open the world object_searching2.wbt in object_searching/worlds/
4. Click the run button

   Tips

   Don’t forget to change the absolute path of the document in the code to read your preset parameters and save your experimental results.

   Demo Video

   https://pan.baidu.com/s/1mtrY0Fwr6RJt6HVxyEfKdA?pwd=s6s5#list/path=%2F