Re: [Playerstage-users] I need an omni-drectional camera like simple sensor

[Richard V. <rtv...@gm...>]

The fiducial sensor is implemented differently. It is very much faster
than the ranger  most of the time.  It is inherently O(n^2) bumuskeg
small constants and much better than that if your sensor range is less
than the world diameter.  avoid that and it'll scale ok. I use it for
hundreds if robots and it's fast.

Rtv

On 2011-03-17, at 17:22, Levent Bayindir <lev...@gm...> wrote:

> Hello Richard,
>
> I will look at the fiducial sensor tomorrow.
> Why did you say that the worst case is O(n^2). Is it different than
> infrared sensor implementation? Because, the infrared results in the
> paper i have mentioned (Swarm. Int., 2,
> 189-208) are obviously O(n). Having scalable results is critical for
> my case. I would like to know more about related issues?
>
> Thanks.
>
> Levent Bayindir
> Teaching Assistant
> KOVAN Research Lab.
> Dept. of Computer Engineering
> Middle East Technical University,
> Inonu Bulvari,  06531,  Ankara,  Turkey
> E-mail: lev...@gm...
> Tel: +90-312-210 5538
> Fax: +90-312-210 5544
>
>
>
> On Wed, Mar 16, 2011 at 6:52 PM, Richard Vaughan <va...@sf...> wrote:
>> Take a look at the fiducial sensor. While O(n^2) in the worst case, it
>> will scale better than that in practice in versions >= 4.0.
>>
>> Richard/
>>
>> On Wed, Mar 16, 2011 at 6:27 AM, Levent Bayindir
>> <lev...@gm...> wrote:
>>> Hello,
>>>
>>> I have an existing point-mass simulator independent from Player/Stage.
>>> In this simulator, robots can sense other robots up to a certain
>>> distance. Robots obtain distances and directions to neighbor robots
>>> from this sensor. There is no noise in the sensor. I guess this is the
>>> simplest sensor that can be thought.
>>>
>>> I am switching Stage due to its scalability characteristics discussed
>>> in "Massively multi-robot simulation in stage" (Swarm. Int., 2,
>>> 189-208). So i don't want to implement this by calculating distances
>>> to neighbor robots for each robot because this is not scalable. I need
>>> to implement in Stage's way which utilizes it own data structures and
>>> algorithms to obtain scalable results. I expect to have a sensor or
>>> implement one easily in Stage.
>>>
>>> As far as i see, there is no direct match for this sensor in Stage. If
>>> i can not have this sensor, i can use infrared sensors but this is
>>> less desirable and prone to further difficulties. Could you give me
>>> some hints to implement this sensor or direct me to the related
>>> resources/examples?
>>>
>>> Regards,
>>>
>>> Levent Bayindir
>>>
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