The SCRIMMAGE core project provides several plugins that can be used for multi-agent simulation. The following is a brief description of the available plugins.
AuctionAssign : An example of using Auction-based methods and SCRIMMAGE’s messaging system to generate auctions and bids between multiple entities.
Boids : An implementation of Boid’s swarm control model. (http://www.red3d.com/cwr/boids/)
MOOSAutonomy : Allows an entity to be controlled by MOOS-IvP. See the
moos_scrimmage.pyscript in the scripts directory for help on running MOOS with SCRIMMAGE.
MotorSchemas : An implementation of the Motor Schemas autonomous control framework. The entity can move towards a waypoint while avoiding other entities.
PyAutonomy : Allows an entity to be controlled by a Python script.
ROSAutonomy : Allows an entity to be controlled by a ROS node. (experimental).
Straight : Moves the entity in the forward direction from its initial heading.
Motion Model Plugins¶
DoubleIntegrator : Implements a 3D double integrator motion model.
FixedWing6DOF : A dynamics-based with quaternion integration fixed-wing model.
JSBSimControl : An example of controlling JSBSim’s actuators directly from an Autonomy plugin.
JSBSimModel : An example of controlling JSBSim’s autopilot / model from an Autonomy plugin.
RigidBody6DOF : A general purpose rigid body 6DOF model.
SimpleAircraft : Implements a simple 3D aircraft model.
SimpleCar : Implements a simple car model. (http://planning.cs.uiuc.edu/node658.html)
SimpleQuadrotor : Implements a simple 3D quadrotor model.
SingleIntegrator : Implements a 3D single integrator motion model. The entity can instantaneously change velocity and heading.
Unicycle : Implements a simple unicycle model. (http://planning.cs.uiuc.edu/node660.html)
DoubleIntegratorControllerWaypoint : A waypoint controller for the DoubleIntegrator.
FixedWing6DOFControllerPID : Controls speed, altitude, and heading.
FixedWing6DOFControllerROS : Controls speed, altitude, and heading from ROS node (experimental).
JSBSimControlControllerHeadingPID : Directly controls actuators of JSBSim model from SCRIMMAGE.
JSBSimModelControllerHeadingPID : Controls speed, altitude, and heading. Uses an autopilot defined in JSBSim’s XML syntax.
RigidBody6DOFControllerPID : Controls speed, altitude, and heading.
RigidBody6DOFControllerROS: Controls speed, altitude, and heading from ROS node (experimental).
SimpleAircraftControllerPID : Controls speed, altitude, and heading.
SimpleCarControllerHeading: Controls speed and heading.
SimpleQuadrotorControllerLQR : Implements linear-quadratic regulator (LQR) controller for quadrotor model. Controls heading, speed, and altitude.
SingleIntegratorControllerSimple : Directly controls 3D velocity components of single integrator.
SingleIntegratorControllerWaypoint : Implements waypoint control of single integrator model.
UnicycleControllerDirect : Directly controls the speed and angular velocity.
UnicycleControllerPoint : Drives the unicycle to a desired X/Y position.
ContactBlobCamera : Converts contacts within a field-of-view and range into a circle projected onto a 2D camera image. A bounding box is generated around each contact. See the ContactBlobCamera.xml file for complete sensor configuration.
NoisyContacts : Converts the states of contacts within a field-of-view and range into noisy states. Simulates noisy range-based sensors.
NoisyState : Converts the entity’s own state into a noisy version. Simulates noisy localization.
Entity Interaction Plugins¶
BulletCollision : Perform collision detection between entities with the open source Bullet physics engine.
GroundCollision : Determine if an entity falls below a z-position threshold. If so, remove the entity from the simulation.
SimpleCollision : Determine if the distance between two entities is below a given threshold. If so, remove the two entities from the simulation.
SimpleCollisionMetrics : Keeps track of each entity’s total simulation time, collisions with teammates, collisions with non teammates, and collisions with the ground. This metric computes a score for each team based on the counts and the weights, which are defined in SimpleCollisionMetrics.xml