This repository contains the code used to generate the results included in S. Pell and A. Willig, “Using a drone formation with sectored antennas in Search-And-Rescue: heuristics for orienting drones and moving the formation,” in 2022 IEEE 33rd Annual International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC) (IEEE PIMRC 2022), Sep. 2022.

pip3 install numpy matplotlib rich scipy

To recreate the simulations in the paper, you will need to modify the main functions of some files to get them to run the simulation you wish to replicate.

To replicate the simulations included in Figs. 1, 2, and 4 you will need to modify main.py to enable the function which handles the simulation you wish to replicate:

• Fig. 1 can be recreated by uncommenting simulate_rmse_based_on_snr_and_num_sectors()
• Fig. 2 can be recreated by uncommenting investigate_effect_of_bearing_parallel()
• Fig. 4 can be recreated by uncommenting rotation_sim_lines() and rotation_sim_circle()

Note for the best performance when simulating Fig. 2 you should make sure to set NUM_PROC to the number of cores you want to use for the simulation.

To replicate the simulations included in Figs. 8 and 9 you will need to modify EvaluateStepSizeEstimationMethods.py.

• Fig. 8 can be recreated by uncommenting simulate_angle_diff_to_distance_threshold_all_less_than_threshold() and simulate_angle_diff_to_distance_threshold_all_greater_than_threshold()
• Fig. 9 can be recreated by uncommenting step_counting_initial_mp()

When performing the simulation necessary to recreate Fig. 9 you should make sure to set NUM_PROC to the number of cores you want to use for the simulation task.

To recreate each figure from the paper, please see the readme in the results directory. If you wish to analyse results from your simulation run you will have to modify the respective Python scripts to pull from the results file you have generated.