sarthakjshetty / weight Goto Github PK

From the recent exploration_map shared, it seems that the UAV does not traverse the map from the 0th index. Need to look into this. Seems like an error with the initialization of the pre_list_of_maximum_indices_x/y[].

survivor_model() updates the coordinates of the survivor for a given drone. Here the survivor_model() of the other drone is being triggered when data is being transmitted to the switch_node topic of one drone.
Currently looking at possible mistransmission of the global_counter variable, transacted between quad_node() functions and publishers and subscribers.

Calculate the heading of the survivor in terms of an angle with respect to either axes. This theta value is used to differentially prioritize the two quadrants adjacent to that recorded with the survivor in.

Update figure for probabilistic search in the README to include figures from the complete weight-based exploration. Links here, here, here and here.

counter keeps track of the number of waypoints traversed by the UAV. Here, there is an unexpected synchronicity between the two UAVs, even when one is immobile.
Upon triggering weight_model() for one UAV, desired ansynchronicity is acheived.

When the observer node is triggered (in the current model), the list_maximum_x_indices() & list_maximum_y_indices() are updated and the counter variable is reset to 0 to begin traversal from the initial coordinates. In the case of multi-robot systems, the two lists are shared and cause the coordinates to refresh for both UAVs. Need to decouple them for the two (or N) systems.