Update algorithms.rst

docs/source/gams-madara/algorithms.rst

@@ -3,6 +3,23 @@ Algorithms
 ==========
 
 
+
+There is many algorithms to be used in GAMS/MADARA. 
+
+   * Formation coverage
+   * Prioritized Region Coverage
+   * Minimum Time Coverage
+   * Serpentine Coverage
+   * Waypoints
+   * Formation Follow
+   * Synchronized Formations
+   * Convoy Shielding
+   * Line Defense
+   * Arc Defense
+   * Onion Defense
+   * Executor
+
+
 Waypoints
 ---------
 
@@ -19,3 +36,40 @@ To use this kind of algorithm, you should configure some variables into knowledg
   agent.0.algorithm.args.repeat=3;
 
 So, you can set the number of waypoints with ``.algorithm.args.locations.size``, number of repetitions by writing ``.algorithm.args.repeat`` and the amount of time (in seconds) that robot should wait after reaching one waypoint by writing ``.algorithm.args.wait_time``.
+
+
+Random Area Coverage
+--------------------
+
+You can specify areas in env.mf to be coverage by agents. So, in env.mf you write: 
+
+.. code-block:: bash
+
+  region.0.object_type = 1;
+  region.0.type = 0;
+  region.0.priority = 0;
+  region.0.size = 4;
+  region.0.0 = [0, 0];
+  region.0.1 = [0, 5];
+  region.0.2 = [5, 5];
+  region.0.3 = [5, 5];
+
+while, in ``agent_0.mf`` you specify the area to covered by the agent:
+
+.. code-block:: bash
+
+  agent.0.algorithm="urac";
+  agent.0.algorithm.args.area="region.0";
+
+
+Formation coverage
+Prioritized Region Coverage
+Minimum Time Coverage
+Serpentine Coverage
+Formation Follow
+Synchronized Formations
+Convoy Shielding
+Line Defense
+Arc Defense
+Onion Defense
+Executor