Bio-inspired swarm navigation

based on fish behavior as modeled in: Calovi DS, Litchinko A, Lecheval V, Lopez U, Perez Escudero A, Chate H, et al. (2018) Disentangling and modeling interactions in fish with burst-and-coast swimming reveal distinct alignment and attraction behaviors. PLoS Comput Biol 14(1): e1005933. https://doi.org/10.1371/journal.pcbi.1005933

Example for airframe file

Add to your firmware section:

Module configuration options

Airframe file section

section name: NAV_FISH prefix: NAV_FISH_
- name FLUCT value: 0.1
  Description: intensity of fluctuations

Module functions

Init Functions

These initialization functions are called once on startup.

nav_fish_init()

Files

Header Files

The following headers are automatically included in modules.h

nav_fish.h

Source Files

modules/nav/nav_fish.c

Raw nav_fish.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="nav_fish" dir="nav" task="control">
  <doc>
    <description>
      Bio-inspired swarm navigation
 
      based on fish behavior as modeled in:
      Calovi DS, Litchinko A, Lecheval V, Lopez U, Perez Escudero A, Chate H, et al. (2018)
      Disentangling and modeling interactions in fish with burst-and-coast swimming reveal distinct
      alignment and attraction behaviors. PLoS Comput Biol 14(1): e1005933.
      https://doi.org/10.1371/journal.pcbi.1005933
 
    </description>
    <section name="NAV_FISH" prefix="NAV_FISH_">
      <define name="FLUCT" value="0.1" description="intensity of fluctuations"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="Nav Fish">
        <dl_setting var="nav_fish_params.alt" shortname="alt" min="0.5" step=".1" max="10.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.max_velocity" shortname="max V" min="0.1" step=".1" max="1.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.min_velocity" shortname="min V" min="0.1" step=".1" max="1.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.min_d2d" shortname="min d2d" min="0.1" step=".1" max="5.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.alpha" shortname="alpha" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.e_w1" shortname="e_w1" min="0.0" step=".01" max="1.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.e_w2" shortname="e_w2" min="0.0" step=".01" max="1.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.y_w" shortname="yw" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.l_w" shortname="lw" min="0.1" step=".1" max="10.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.fluct" shortname="fluct" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
  <dl_setting var="nav_fish_params.alpha_rep" shortname="alpha rep" min="0.0" step=".01" max="5.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.y_att" shortname="y_att" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.l_att" shortname="l_att" min="0.01" step=".1" max="5.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.d0_att" shortname="d0_att" min="0.01" step=".1" max="5.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.y_ali" shortname="y_ali" min="0.01" step=".01" max="10.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.l_ali" shortname="l_ali" min="0.01" step=".1" max="20.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.d0_ali" shortname="d0_ali" min="0.01" step=".1" max="5.0" module="modules/nav/nav_fish"/>
  <dl_setting var="nav_fish_params.tr_y_att" shortname="tr_y_att" min="0.01" step=".01" max="1.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.tr_l_att" shortname="tr_l_att" min="0.01" step=".1" max="20.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.tr_y_ali" shortname="tr_y_ali" min="0.01" step=".01" max="5.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.tr_l_ali" shortname="tr_l_ali" min="0.01" step=".1" max="20.0" module="modules/nav/nav_fish"/>
        <dl_setting var="nav_fish_params.strategy" shortname="strategy" min="0" step="1" max="2" module="modules/nav/nav_fish"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>@navigation</depends>
  </dep>
  <header>
    <file name="nav_fish.h"/>
  </header>
  <init fun="nav_fish_init()"/>
  <makefile>
    <file name="nav_fish.c"/>
    <test firmware="rotorcraft">
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
    </test>
  </makefile>
</module>