Changelog

All notable changes to this project will be documented in this file.

Unreleased

4.0.0 - 2024-10-18

Added

"Return area" where the drone should return to at the end of the mission.
Some wounded people can move along a predefined path.
Drones have access to their health level.
Drones have access to max timestep limit and elapsed_timestep.
Drones have access to max walltime limit and elapsed_walltime.
Drones can detect if they are in the "return area".

Changed

Changed drone behavior with elasticity and friction parameters : more friction and elasticity with the walls and other drones.
Added the health level of the returned drones in the final score calculation and in the pdf report.
Updated requirements and documentation.
Indentation and code details.
Swarm-Rescue is now linked to the swarm-rescue-v3 version of simple-playground.
The key to activate grasping, on the keyboard, change from G to W.

3.2.0 - 2024-04-15

Changed

Use drones health percentage instead of drones health value
If the execution crash, now it continue with the next configuration
new way to computed reachable pixel in the map to compute the exploration score

Added

add title to the window
add boolean arguments stop_at_first_crash and hide_solution_output
add border_thickness in ClosedPlayground
add wall_thickness in NormalWall

3.1.0 - 2023-12-05

Changed

Improve and update the README.md
Moved installation instructions to a separate file, INSTALL.md, for easier access and organization.
Modified image_to_map.py tool
Add management of collision to all the maps

Fixed

Refined the score exploration algorithm to ensure higher accuracy.
Rectified an issue in the computation of velocity within the function measured_velocity() which was resulting in incorrect outputs.
Restricted lateral and forward commands to have a maximum norm of 1.0

3.0.1 - 2023-10-18

Fixed

Import problems in examples

3.0.0 - 2023-10-09

Changed

A lot of changes !!

2.2.3 - 2023-03-20

Changed

Change the tool image_to_map.py

Added

Add the map of the final !

Fixed

Now, round terminates when the time_step exceeds the time_step_limit

2.2.2 - 2023-02-07

Changed

Walls are no longer detected as OTHER, they are remove from the results of the semantic sensor.
Improve the generated report. Now, in english.

Added

Add a new example for the semantic sensor.

Fixed

Drones are correctly detected as DRONE in the results of the semantic sensor.
Bug fix concerning a random crash.
Bug fix in the computation of the number of wounded person bring to the rescue center, in the case of multi-grasping.
Fixed a bug in the calculation of the number of wounded person brought to the rescue center when they are brought by more than one drone.
Spelling in README.md
Compatibility with the new version of numpy : numpy.int has been deprecated, use int instead.

2.2.1 - 2022-12-15

Changed

Cleaning example.
Disabled forbidden functions : position(), angle(), velocity(), angular_velocity() => generate an exception.

Added

Added map_intermediate_02.py !
In README, added instructions to install the program on Windows10.
Added function grasped_entities() in drone_abstract.
Added function measured_velocity() computed from odometer and compass values in drone_abstract.
Added function measured_angular_velocity() in drone_abstract.
Added some tests.

Fixed

bug fix : the execution of the code goes through your control() function even if you have activated the use of the keyboard to control the drone.
there should be no more NaN at the first reading of the sensor data.
installation bug.

2.2.0 - 2022-10-27

Changed

Refactoring of the map construction: now, drones are instantiated in the map class.

Added

Adding screen recorder tool: not really useful for competitors, but for evaluators. It is disabled by default.

Fixed

Fixing bug with macOS: the simulator crashed regularly on macOS. The problem is corrected but at the cost of a decrease in performance on macOS (some calculations done by the GPU are done by the CPU instead)

2.1.0 - 2022-10-21

Changed

change default GPS noise
function name:
- rename measured_position() to measured_gps_position() in the class DroneAbstract
- rename measured_angle() to measured_compass_angle() in the class DroneAbstract
the "no gps zone" still disables the gps sensor and now, it disables also the compass sensor.

Added

add odometer sensor (see README.md for more information)
remove velocity sensor (whose data can be replaced by a calculation on the odometry data)
visualization of the noises on gps sensor, compass sensor and odometer sensor.

Fixed

improve code : typing, comments, documentation
fix small bugs

2.0.0 - 2022-10-10

Changed

New version of simple-playgrounds. A lot of changes !!
The interface is now more beautiful and faster.

1.5.2 - 2022-09-08

Fixed

Spelling correction in the README and comments of the code

1.5.1 - 2022-02-28

Changed

The radius, around the drones, of space that is considered explored, increases from 100 to 200

Fixed

Bug fix in the calculation of the explored area.

1.5.0 - 2022-02-15

Changed

launcher.py file is reformatted
The evaluation report file is improved
Information displayed in the console is improved

Added

Fixed

The package pathlib has been changed to pathlib2, because pathlib is not maintained anymore.

1.4.1 - 2022-02-10

Fixed

Bug fix in launcher.py in function reset()

1.4.0 - 2022-02-04

Changed

launcher.py will now run the code following the competition evaluation rules (tests without special zones and with each zone activated)
Special zones can now be activated/deactivated in the maps
The starting points of the drones are not random anymore. The position of all drones now displays a square.

Added

New map : MyMapCompet02
Teams should now fill the team_info.yml file in the solutions/ directory
launcher.py now produces a pdf report of the performances in the ~/results_swarm_rescue/ directory according to the challenge evaluation rules

Fixed

1.3.0 - 2022-01-27

Changed

Change fov of the DroneLidar from 180° to 360°, but we keep 90 rays.
Split the sensor DronePosition in 2 sensors : DroneGPS, for only the position in pixels, and DroneCompass, for only the orientation of the drone in radians. Thus, the no-GPS zone will only apply to DroneGPS sensor, the orientation is still available.
In the no-GPS zone, the measured position was always (0, 0). Now, it is (NaN, NaN).

Added

There are new functions in the class DroneAbstract to known if a sensor is disabled:
- touch_is_disabled()
- semantic_cones_is_disabled()
- lidar_is_disabled()
- gps_is_disabled()
- compass_is_disabled()
- but no communication_is_disabled()...
Now, drone have a velocity sensor DroneVelocity and the functions : measured_velocity(), measured_angular_velocity(), true_velocity(), true_angular_velocity()

Fixed

1.2.0 - 2021-11-26

Added

Add member variable display in the class Launcher. If False, the map is not shown.
Add the file spg_overlay/fps_display.py which contains FpsDisplay class. This class prints the FPS.
Add noise to Position sensor that follows an autoregressive model of order 1
Add gaussian noise to lidar sensor, semantic sensor and touch sensor.
Add number_drones in the MiscData class. Now, drones have access to this value.
Add "no communication zone", "no gps zone", "kill zone" in map_compet_01.py

Changed

Change the resolution of the DroneLidar from 180 rays to 90 rays to improve overall speed.
Change the resolution of the DroneTouch from 36 sensors to 12 sensors to improve overall speed.

1.1.0 - 2021-11-18

Added

A MiscData object should be passed as a parameter of the drone constructor. MiscData will contain miscellaneous data for the drone. For now, it contains only the dimension of the playground.
This file, CHANGELOG.md

Changed

README.md updated
Increase the range of communication sensor from 200 to 500
Now a semantic sensor DroneSemanticCones sends for each cone: the distance, the angle, the type of object and a boolean if it is grasped. It no longer sends the object itself.

Fixed

Bug fix in map_random

1.0.0 - 2021-11-05

Added

Keep track of what was visited on the map with ExploredMap class
Class to compute the final score: score_manager.py
Add example files

Changed

Change of API in SPG
Remove warnings and bugs
Change the texture of wounded persons, rescue center and walls

0.9.0 - 2021-10-27

Changed

First real version

0.0.0 - 2021-10-19

Added

Initial commit