Overview

This page provides supplementary material for the AAS paper. The foraging algorithms shown on this page are:

• CRW
• DPO
• STOCHM
• STOCHX

See AAMAS 2020,IJCAI 2019 for technical explanations of the algorithms.

All videos were recorded/generated using SIERRA. All videos are 5,000 seconds of simulated time long.

Blocks to be collected are represented as black squares, and the nest is a light gray with yellow lights above it which robots use for phototaxis. Caches are a dark gray (STOCHM, STOCHX only).

ARGoS Visual Videos

Scenario 1 (small warehouse), 32x16 arena with 128 robots:

• CRW (left), DPO (right)

• STOCHM (left), STOCHX (right)

Diagnostic Videos

Scenario 1 (small warehouse), 32x16 arena with single source block distribution, 128 robots:

• CRW: spatial searching distribution (left), spatial interference distribution (right):

• DPO: spatial searching distribution (left), spatial interference distribution (right):

• STOCHM: spatial searching distribution (left), spatial interference distribution (right):

• STOCHX: spatial searching distribution (left), spatial interference distribution (right):

Scenario 1 (medium warehouse), 48x48 arena with random block distribution, 256 robots:

• CRW: spatial block pickup distribution (left), spatial occupancy distribution (right):

• DPO: spatial block pickup distribution (left), spatial occupancy distribution (right):

• STOCHM: spatial block pickup distribution (left), spatial occupancy distribution (right):

• STOCHX: spatial block pickup distribution (left), spatial occupancy distribution (right):