DistributedSystemProject/Main.m at master · frank1789/DistributedSystemProject · GitHub

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%% Main - Start multirobot
close all
clear
clc
addpath('Utility-Mapping')
compilemexlibrary
%% Generate Map
% build a new map with:
% map = Map("New", width, heigth);
% map = Map("New", width, heigth, #landmark, "auto");
% map = Map("New", width, heigth, #landmark, "manual");
% or load an existing one:
% map = Map("Load");
% map = Map("Load", #landamark);
% map = Map("Load", #landamark, "auto");
% map = Map("Load", #landamark, "manual");
map = Map('new', 60, 60);
figure('units','normalized','outerposition',[0 0 1 1]); axis equal
axis([0, 100, 0, 100])
map.plotMap();
print('map100x100','-depsc','-r0')
%% Set-up paramaters simulation
% define number of robots to use
numrobot = 4;
% define base time
basetime = 200;
% increment of time
step = 9;

parfor (k = 1:step, 4)
    for n = 1:numrobot
        multirobot(n, k * basetime, map, 1)
    end
end


%% analysis result
Result