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Saurav Agarwal
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‎cppsrc/main/coverage_algorithm.cpp‎

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/*
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* This file is part of the CoverageControl library
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*
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* Author: Saurav Agarwal
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* Contact: [email protected], [email protected]
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* Repository: https://github.com/KumarRobotics/CoverageControl
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*
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* Copyright (c) 2024, Saurav Agarwal
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*
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* The CoverageControl library is free software: you can redistribute it and/or
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* modify it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or (at your
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* option) any later version.
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*
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* The CoverageControl library is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with
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* CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
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*/
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/*!
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* \file coverage_algorithm.cpp
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* \brief Program to test the CVT-based (Lloyd's) coverage control algorithms

‎cppsrc/main/world_idf.cpp‎

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/*
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* This file is part of the CoverageControl library
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*
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* Author: Saurav Agarwal
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* Contact: [email protected], [email protected]
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* Repository: https://github.com/KumarRobotics/CoverageControl
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*
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* Copyright (c) 2024, Saurav Agarwal
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*
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* The CoverageControl library is free software: you can redistribute it and/or
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* modify it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or (at your
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* option) any later version.
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*
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* The CoverageControl library is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with
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* CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
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*/
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/*!
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* \file world_idf.cpp
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* \brief Program to test generation of IDF

‎pyproject.toml‎

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@@ -75,7 +75,7 @@ repair-wheel-command = ""
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# before-test=""
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test-command = "pytest -ra --showlocals --ignore={project}/python/tests/deprecated {project}/python/tests/test_coverage_env_utils.py {project}/python/tests/test_coverage.py {project}/python/tests/test_env_io.py {project}/python/tests/test_map_generation.py {project}/python/tests/test_models.py {project}/python/tests/test_package.py {project}/python/tests/test_parameters.py {project}/python/tests/test_parity.py"
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before-test = "pip install pytest torch torchvision torch_geometric && wget https://github.com/KumarRobotics/CoverageControl/releases/download/v1.1.0/pytest_data.tar.gz && tar -xvf pytest_data.tar.gz -C python/tests/ && rm pytest_data.tar.gz"
78+
before-test = "pip install pytest torch torchvision torch_geometric && wget https://github.com/KumarRobotics/CoverageControl/releases/download/v1.2.0/pytest_data.tar.gz && tar -xvf pytest_data.tar.gz -C python/tests/ && rm pytest_data.tar.gz"
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test-requires = []
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test-extras = []
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‎python/scripts/coverage_env/coverage_class.py‎

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# This file is part of the CoverageControl library
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#
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# Author: Saurav Agarwal
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# Contact: [email protected], [email protected]
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# Repository: https://github.com/KumarRobotics/CoverageControl
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#
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# Copyright (c) 2024, Saurav Agarwal
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#
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# The CoverageControl library is free software: you can redistribute it and/or
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# modify it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or (at your
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# option) any later version.
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#
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# The CoverageControl library is distributed in the hope that it will be
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# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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# Public License for more details.
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#
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# You should have received a copy of the GNU General Public License along with
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# CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
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221
"""
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An example class to use the CoverageControl library to run a coverage algorithm
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"""
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255
import sys
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import coverage_control as cc # Main library
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from coverage_control import CoverageSystem
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7+
import coverage_control as cc # Main library
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from coverage_control import CoverageSystem
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from coverage_control.algorithms import ClairvoyantCVT as CoverageAlgorithm
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# Algorithms available:
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# ClairvoyantCVT
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# CentralizedCVT
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# DecentralizedCVT
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# NearOptimalCVT
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from coverage_control.algorithms import ClairvoyantCVT as CoverageAlgorithm
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class RunCoverageAlgorithm:
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"""
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self.params_ = cc.Parameters()
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self.env = CoverageSystem(self.params_)
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self.controller = CoverageAlgorithm(self.params_, self.params_.pNumRobots, self.env)
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self.controller = CoverageAlgorithm(
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self.params_, self.params_.pNumRobots, self.env
31+
)
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def step(self):
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"""
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Run one step of the coverage algorithm
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"""
54-
self.controller.ComputeActions();
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self.controller.ComputeActions()
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actions = self.controller.GetActions()
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error_flag = self.env.StepActions(actions)
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return error_flag
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def execute(self):
@@ -68,19 +52,21 @@ def execute(self):
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while num_steps <= self.params_.pEpisodeSteps:
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if self.step():
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print(f"Error in step {num_steps}")
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break
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7358
if self.controller.IsConverged():
7459
print(f"Converged in step {num_steps}")
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break
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num_steps = num_steps + 1
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7965
final_cost = self.env.GetObjectiveValue()
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print(f"Improvement %: {100 * (init_cost - final_cost)/init_cost:.2f}")
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82-
if __name__ == '__main__':
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69+
if __name__ == "__main__":
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if len(sys.argv) > 1:
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cc = RunCoverageAlgorithm(sys.argv[1])
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else:

‎python/scripts/coverage_env/coverage_simple.py‎

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# This file is part of the CoverageControl library
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#
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# Author: Saurav Agarwal
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# Contact: [email protected], [email protected]
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# Repository: https://github.com/KumarRobotics/CoverageControl
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#
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# Copyright (c) 2024, Saurav Agarwal
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#
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# The CoverageControl library is free software: you can redistribute it and/or
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# modify it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or (at your
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# option) any later version.
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#
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# The CoverageControl library is distributed in the hope that it will be
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# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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# Public License for more details.
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#
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# You should have received a copy of the GNU General Public License along with
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# CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
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"""
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A simple example of using the CoverageControl library
243
"""
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265
import coverage_control as cc
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6+
from coverage_control.algorithms import ClairvoyantCVT as CoverageAlgorithm
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# Algorithms available:
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# ClairvoyantCVT
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# CentralizedCVT
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# DecentralizedCVT
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# NearOptimalCVT
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from coverage_control.algorithms import ClairvoyantCVT as CoverageAlgorithm
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params = cc.Parameters()
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5432
if env.StepActions(actions):
5533
print(f"Error in step {i}")
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break
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5837
if controller.IsConverged():
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print(f"Converged in step {i}")
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break
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# print some metrics

‎python/scripts/coverage_env/world_idf.py‎

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# This file is part of the CoverageControl library
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#
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# Author: Saurav Agarwal
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# Contact: [email protected], [email protected]
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# Repository: https://github.com/KumarRobotics/CoverageControl
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#
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# Copyright (c) 2024, Saurav Agarwal
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#
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# The CoverageControl library is free software: you can redistribute it and/or
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# modify it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or (at your
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# option) any later version.
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#
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# The CoverageControl library is distributed in the hope that it will be
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# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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# Public License for more details.
18-
#
19-
# You should have received a copy of the GNU General Public License along with
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# CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
211
"""
222
A simple example of using WorldIDF
233
"""
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255
import coverage_control
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import numpy as np
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params = coverage_control.Parameters()
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params.pNumRobots = 1

‎python/scripts/coverage_env/world_map_numpy.py‎

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# This file is part of the CoverageControl library
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#
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# Author: Saurav Agarwal
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# Contact: [email protected], [email protected]
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# Repository: https://github.com/KumarRobotics/CoverageControl
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#
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# Copyright (c) 2024, Saurav Agarwal
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#
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# The CoverageControl library is free software: you can redistribute it and/or
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# modify it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or (at your
12-
# option) any later version.
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#
14-
# The CoverageControl library is distributed in the hope that it will be
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# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
16-
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
17-
# Public License for more details.
18-
#
19-
# You should have received a copy of the GNU General Public License along with
20-
# CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
211
"""
222
A simple example of using WorldIDF
233
"""

‎python/scripts/data_generation/data_generation.py‎

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# This file is part of the CoverageControl library
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#
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# Author: Saurav Agarwal
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# Contact: [email protected], [email protected]
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# Repository: https://github.com/KumarRobotics/CoverageControl
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#
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# Copyright (c) 2024, Saurav Agarwal
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#
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# The CoverageControl library is free software: you can redistribute it and/or
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# modify it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or (at your
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# option) any later version.
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#
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# The CoverageControl library is distributed in the hope that it will be
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# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
17-
# Public License for more details.
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#
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# You should have received a copy of the GNU General Public License along with
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# CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
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# @file data_generation.py
232
# This file contains the code to generate a dataset for learning
243
#
25-
264
# DataDir = "${CoverageControl_ws}/datasets/lpac" # Absolute location
275
# EnvironmentConfig = "${CoverageControl_ws}/datasets/lpac/coverage_control_params.toml" # Absolute location
286
#
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4826
# TrainRatio = 0.7
4927
# ValRatio = 0.2
5028
# TestRatio = 0.1
51-
52-
## @file data_generation.py
29+
# @file data_generation.py
5330
# @brief Class to generate CoverageControl dataset for LPAC architecture
54-
55-
import os
56-
import sys
57-
import pathlib
5831
import datetime
5932
import math
33+
import os
34+
import pathlib
35+
import sys
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6137
import coverage_control
6238
import torch
63-
from coverage_control import CoverageSystem, IOUtils
39+
from coverage_control import CoverageSystem
40+
from coverage_control import IOUtils
6441
from coverage_control.algorithms import ClairvoyantCVT as CoverageAlgorithm
6542
from coverage_control.nn import CoverageEnvUtils
6643

67-
## @ingroup python_api
44+
# @ingroup python_api
45+
46+
6847
class DatasetGenerator:
6948
"""
7049
Class to generate CoverageControl dataset for LPAC architecture
7150
"""
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7352
def __init__(self, config_file, append_dir=None):
74-
7553
self.config = IOUtils.load_toml(config_file)
7654
self.data_dir = IOUtils.sanitize_path(self.config["DataDir"])
7755
self.dataset_dir = self.data_dir + "/data/"

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