Using COSM: Runtime Configuration

All of COSM’s runtime configuration parameters are read from XML (for the moment). Its structure supports other types of sources.

XML Configuration

Configuration is divided into two parts: configuration for the controllers which run on each agent, and configuration for the swarm manager, which is what runs “above” all agents (either real or simulated) and does tasks like collecting data from agents and modifying the simulation environment when certain events occur.

XML Conventions

COSM Uses the following conventions when describing its XML configuration:

• 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).

• XML attributes that should be integers are specified as INTEGER in the example XML (acceptable range, if applicable, is documented for each individual attribute).

XML Configuration Details:

• Controller XML Configuration
  • output
  • strategy
  • perception
  • task_executive
  • task_alloc
  • sensing_subsystem
  • actuation_subsystem
  • flocking
• Swarm Manager XML Configuration
  • output
  • convergence
  • arena_map
  • temporal_variance
  • oracle_manager
  • visualization