Sirius

Simulation of robots in unknown streets



Press on Button to start the simulation.

What is Sirius

Sirius - Simulation of robots in unknown streets - is an application to simulate a robot that is searching for a target inside a special type of polygons called streets. Usage of Sirius is explained on this page.

The Streets Page will give you more information on polygons and streets.
The Robot Page will give you more information on robots and their strategies.

Usage of Sirius


Example of the Sirius Application





The Sirius window consists of four major areas:

Editing the polygon

To edit the polygon, simply add vertices by clicking the mouse at the coordinates where you want a new vertex to be added. Edges will be added automatically. The polygon will allways be a closed Polygon. You will notice that two polygon vertices are marked in green instead of red. The new point will be added between these two vertices. To insert vertices between two other vertices, first change the insertion pair by clicking on one of the desired points.

When the robot is set to Target Step Mode, the polygon will be tested to be a valid street while editing. Vertices that would make the polygon invalid will not be added. You can add invalid vertices when the robot is in Event Step Mode or Micro Step Mode. Before starting the robot, the polygon will be tested to be a valid street. You can always test by selecting Arena/Validate from the menu.

You can delete a vertex by clicking on it with the right mouse button. You can also move a vertex by left clicking and dragging it to the desired position.

Moving start and target Point

The start and/or target point initially position on the edge of the polygon when the polygon is a valid street for the first time and the robot is set to target step mode. When the robot is set to micro or event step mode, the start and target points are set when the validate function is executed. Start and target points can be moved by clicking and dragging them with the mouse. When the robot is set to target step mode, the valid areas on the edge of the polygon are shown in black color, while invalid areas are shown in gray. The target point can not be moved outside of the current valid area, but when moving the start point out of the current valid area, the area may change to the next valid area. When this happens, the target point may also be moved to the corresponding valid region.

When the robot is set to micro or event step mode, no region checking is done, so the start and/or target points may be moved around freely, in fact they can even be moved off the polygons edge. Before starting the robot, both start and target point will be moved to the nearest available valid area automatically.

The robot step modes

Robots can be set to three different step modes. These modes are: When the robot is set to event or micro step mode, the robot will not start automatically. It has to be started by using either the start button or the robot/start menu entry. In these two modes, the robot can be paused along it's path using the pause button or Robot/pause menu entry. You can then analyse the output closely. To resume the tour, just press the start button again. You can also use the next step button or menu entry to perform a single step and pause after that. To reset the robot to the start point, press the reset button or use the robot/reset menu entry.

The robot options

Some Robots can have additional options. These can be set in the robot options dialog, which is displayed when robot/options menu entry is selected.