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.