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CHANGELOG.md

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Changelog

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

Unreleased

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