Provided is a simulation environment using the Unity3D game engine. The environment contains controllable models for sheep and dogs. The overall goal for this group is to develop the environment to simulate the organic flocking of sheep, assess the impact of the robot dogs, and to explore the control of this influence towards achieving the target location.
- Ensure you have available 15GB for Unity 3D and the ShepSim simulation files
- Install Unity Hub and through it, Unity Editor 6000.0.45f1
- Following the Getting-Started instructions, ensure the simulation ready to run
- Some materials on Boids: Coding Adventure, Dan.onl
- Some materials on Unity: Game Makers Toolkit
- Some materials on ROS#: Siemens/ROS-Sharp
Prediction and Control Server – develop a control strategy for influencing the movement of the sheep around the field by the dog.
Boid Training Server – develop a closed-loop natural systems training server, using inputs from the Computer Vision group to refine the sheep Boid parameters.
Simulation Server – work with the Drone and the Computer Vision groups to develop the simulation for piping synthetic data generation of drone images.
Through these activities, the group will gain experience in natural system simulation and multi-robot cooperation. These activities will culminate in an open-access cross-platform system for experimentation. By the end of the week, group members will have prepared enough in this work to begin considerations of quantifiable experimentations and exploration into potential publication opportunities.
The resulting simulation will be used as a framework for many experiments going forward. Group members will have opportunities to engage with such works and subsequent publications.
To start and build up the docker container clone the repo
cd docker
./docker_start.sh
If you make changes to nodes just run bash in your terminal or run the following
source ~/.bashrc
X11 forwarding
sudo apt-get install libxcb-randr0-dev libxcb-xtest0-dev libxcb-xinerama0-dev libxcb-shape0-dev libxcb-xkb-dev
export QT_DEBUG_PLUGINS=1