Welcome to PRISM’s documentation!

XML Configuration

Controller XML Configuration

The following controllers are available:

fcrw_bst

construction

CRW Foraging + single target building.

The following root XML tags are defined under <params>.

`lane_alloc`

Required child attributes if present: policy.
Required child tags if present: none.
Optional child attributes: [ interference_window ].
Optional child tags: none.

XML configuration:

<lane_alloc
    policy="random|lru|closest|min_interference">
    interference_window="INTEGER"
/>

policy - The lane allocation policy to use. Valid values are:

random - Choose a random lane each time.

lru - Choose the least recently visited lane each time by allocating lanes in a round robin fashion. Initialized to a random lane for each robot to prevent crowding at the start of simulation.

closest - Choose the lane closest to the robot’s current location when the allocation algorithm is run.

min_interference - Choose the lane which the robot has experienced the minimum average interference (i.e., having to wait for other robots) while in the lane. The average interference is calculated using a sliding window of interference_window timesteps. If multiple lanes have the same average, a random one is selected.

Loop Functions XML Configuration

The following root XML tags are defined under <loop_functions> in addition to the ones specified in COSM.

Root XML tag	Mandatory For?	Description
`output`	All	See COSM docs.
`arena_map`	All	See COSM docs.
`temporal_variance`	None	See COSM docs.
`visualization`	None	See COSM docs.
`oracle_manager`	None	See COSM docs.
`structure3D_builder`	All controllers	Parameters for the structure builder.
`construct_targets`	All controllers	Parameters defining the shape/size of the structures to be built.

Any of the following attributes can be added under the metrics tag in place of one of the <append>,<create>,<truncate> tags. Not defining them disables metric collection of the given type.

XML attribute	Description
`fsm_collision_counts`	See COSM docs.
`fsm_collision_locs2D`	See COSM docs.
`fsm_movement`	See COSM docs.
`block_acq_counts`	See COSM docs.
`block_acq_locs`	See COSM docs.
`block_acq_explore_locs`	See COSM docs.
`block_acq_vector_locs`	See COSM docs.
`block_transport`	See COSM docs.
`task_distribution`	See COSM docs.
`swarm_dist_pos2D`	See COSM docs.
`swarm_dist_pos3D`	See COSM docs.
`tv_population`	See COSM docs.
`block_manipulation`	Free block pickup/block placement counts/penalties.
`structure_progress`	Counts of block placement for the within the structure.
`structure_state`	3D occupancy map of cells within the structure with block placement status.
`structure_subtargets`	Counts of block placement/progress for all subtargets within the structure.

`structure3D_builder`

Required by: all.
Required child attributes if present: [ build_src ].
Required child tags if present: none.
Optional child attributes: [ static_build_interval, static_build_interval_count ].
Optional child tags: [ usage_penalty ].

XML configuration:

<structure3D_builder
    build_src="loop|robot"
    static_bulid_interval="INT"
    static_build_interval_count="INT"
/>

build_src - The source of block placements for the structure. Valid values are:
- loop - The structure will be built statically each timestep by the loop functions without robot involvement. Mainly intended as a debugging tool for initial bring up and structure invariant testing.
- robot - The structure will be built by robots.
static_build_interval - How many timesteps between invocations of the static builder in the loop functions. Only used if build_src is loop. Defaults to 1 if omitted.
static_build_count - How blocks to place on the structure when the builder is invoked at the start of an interval. Only used if build_src is loop. Defaults to 1 if omitted.

`construct_targets`

Required by: all.
Required child attributes if present: none.
Required child tags if present: none.
Optional child attributes: none.
Optional child tags: [ ramp, rectprism ].

XML configuration:

<construct_targets>
    <ramp>
        ...
    </ramp>
    <rectprism>
        ...
    </rectprism>
    ...
</construct_targets>

ramp - Defines a ramp subtarget.
rectprism - Defines a rectangular prism subtarget.

`construct_targets/ramp`

Required by: [none].
Required child attributes if present: [ anchor, grid, id, orientation ].
Required child tags if present: [ ramp_blocks, cube_blocks ].
Optional child attributes: none.
Optional child tags: none.

XML configuration:

<construct_targets>
    ...
    <ramp anchor="FLOAT,FLOAT,FLOAT"
          id="ramp0"
          orientation="FLOAT">
        <grid>
            ...
        </grid>
        <ramp_blocks>
            ...
        </ramp_blocks>
        <cube_blocks>
            ...
        </cube_blocks>
    </ramp>
    ...
</construct_targets>

anchor - X,Y,Z coordinates of the lower left hand corner of the structure specifying its absolute location in the arena.
id - A UUID for the structure.
orientation - The angle in radians between the X axis of the structure and the X axis of the arena. Can be 0 or pi/2; other values will cause an error.

`construct_targets/ramp/grid`

Required by: all.
Required child attributes if present: [ resolution, size ].
Required child tags if present: none.
Optional child attributes: none.
Optional child tags: none.

XML configuration:

<ramp>
    ...
    <grid
        resolution="FLOAT"
        size="X, Y, Z"/>
    ...
</ramp>

resolution - The resolution that the structure will be represented at, in terms of the size of grid cells. Must be the same as the value passed to the robot controllers.
size - The size of the bounding box containing the ramp structure.

`construct_targets/ramp/ramp_blocks`

Required by: [none].
Required child attributes if present: none.
Required child tags if present: none.
Optional child attributes: none.
Optional child tags: [ ramp_block ].

XML configuration:

<ramp>
    ...
    <ramp_blocks>
        <ramp_block cell="INT,INT,INT" id="0">
        <ramp_block cell="INT,INT,INT" id="1">
        ...
    </ramp_blocks>
    ...
</ramp>

Defines the ramp blocks needed to construct the specified ramp construction target. The X,Y,Z coordinates for each cell cell attribute are RELATIVE to the structure anchor (0,0,0 by convention).

`construct_targets/ramp/cube_blocks`

Required by: [none].
Required child attributes if present: none.
Required child tags if present: none.
Optional child attributes: none.
Optional child tags: [ cube_block ].

XML configuration:

<ramp>
    ...
    <cube_blocks>
        <cube_block cell="INT,INT,INT" id="0">
        <cube_block cell="INT,INT,INT" id="1">
        ...
    </cube_blocks>
    ...
</ramp>

Defines the cube blocks needed to construct the specified ramp construction target. The X,Y,Z coordinates for each cube block cell attribute are RELATIVE to the structure anchor (0,0,0 by convention).

`construct_targets/cube/cube_blocks`

Same as for construct_targets/ramp/cube_blocks.

XML Conventions

Multiple choices for an XML attribute value are separated by a | in the example XML.
XML attributes that should be floating point are specified as FLOAT in the example XML (acceptable range, if applicable, is documented for each individual attribute).

Welcome to PRISM’s documentation!

XML Configuration

Controller XML Configuration

lane_alloc

Loop Functions XML Configuration

structure3D_builder

construct_targets

construct_targets/ramp

construct_targets/ramp/grid

construct_targets/ramp/ramp_blocks

construct_targets/ramp/cube_blocks

construct_targets/cube/cube_blocks

XML Conventions

Other Projects (in descending probability of interest)

`lane_alloc`

`structure3D_builder`

`construct_targets`

`construct_targets/ramp`

`construct_targets/ramp/grid`

`construct_targets/ramp/ramp_blocks`

`construct_targets/ramp/cube_blocks`

`construct_targets/cube/cube_blocks`