sierra-research 1.3.6__py3-none-any.whl → 1.5.0__py3-none-any.whl

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-.TH "SIERRA-PLATFORMS" "7" "Apr 01, 2024" "1.3.6" "SIERRA"
-.SH NAME
-sierra-platforms \- The platforms SIERRA supports, and platform-specific Batch Criteria.
-.SH ARGOS PLATFORM
-.sp
-This platform can be selected via \fB\-\-platform=platform.argos\fP\&.
-.sp
-This is the default platform on which SIERRA will run experiments, and uses the
-\fI\%ARGoS\fP simulator. It cannot be used to run experiments on real robots.
-.SS Batch Criteria
-.sp
-See \fI\%Batch Criteria\fP for a thorough explanation of batch criteria, but the
-short version is that they are the core of SIERRA\-\-how to get it to DO stuff for
-you.  The following batch criteria are defined which can be used with any
-\fI\%Project\fP\&.
-.INDENT 0.0
-.IP \(bu 2
-\fI\%Population Size\fP
-.IP \(bu 2
-\fI\%Constant Population Density\fP
-.IP \(bu 2
-\fI\%Variable Population Density\fP
-.UNINDENT
-.SS Population Size
-.sp
-Changing the population size to investigate behavior across scales within a
-static arena size (i.e., variable density). This criteria is functionally
-identical to \fI\%Variable Population Density\fP in
-terms of changes to the template XML file, but has a different semantic meaning
-which can make generated deliverables more immediately understandable, depending
-on the context of what is being investigated (e.g., population size
-vs. population density on the X axis).
-.SS Cmdline Syntax
-.sp
-\fBpopulation_size.{model}{N}[.C{cardinality}]\fP
-.INDENT 0.0
-.IP \(bu 2
-\fBmodel\fP \- The population size model to use.
-.INDENT 2.0
-.IP \(bu 2
-\fBLog\fP \- Population sizes for each experiment are distributed 1...N by
-powers of 2.
-.IP \(bu 2
-\fBLinear\fP \- Population sizes for each experiment are distributed linearly
-between 1...N, split evenly into 10 different sizes.
-.UNINDENT
-.IP \(bu 2
-\fBN\fP \- The maximum population size.
-.IP \(bu 2
-\fBcardinality\fP \- If the model is \fBLinear\fP, then this can be used
-to specify how many experiments to generate; i.e, it defines the \fIsize\fP of the
-linear increment. Defaults to 10 if omitted.
-.UNINDENT
-.SS Examples
-.INDENT 0.0
-.IP \(bu 2
-\fBpopulation_size.Log1024\fP: Static population sizes 1...1024
-.IP \(bu 2
-\fBpopulation_size.Linear1000\fP: Static population sizes 100...1000 (10)
-.IP \(bu 2
-\fBpopulation_size.Linear3.C3\fP: Static population sizes 1...3 (3)
-.IP \(bu 2
-\fBpopulation_size.Linear10.C2\fP: Static population sizes 5...10 (2)
-.UNINDENT
-.SS Constant Population Density
-.sp
-Changing the population size and arena size together to maintain the same population
-size/arena size ratio to investigate behavior across scales.
-.sp
-\fBNOTE:\fP
-.INDENT 0.0
-.INDENT 3.5
-This criteria is for \fIconstant\fP density of robots as population sizes
-increase. For \fIvariable\fP robot density, use
-\fI\%Population Size\fP or
-\fI\%Variable Population Density\fP\&.
-.UNINDENT
-.UNINDENT
-.SS Cmdline Syntax
-.sp
-\fBpopulation_constant_density.{density}.I{Arena Size Increment}.C{cardinality}\fP
-.INDENT 0.0
-.IP \(bu 2
-\fBdensity\fP \- <integer>p<integer> (i.e. 5p0 for 5.0)
-.IP \(bu 2
-\fBArena Size Increment\fP \- Size in meters that the X and Y dimensions should
-increase by in between experiments. Larger values here will result in larger
-arenas and more robots being simulated at a given density. Must be an integer.
-.IP \(bu 2
-\fBcardinality\fP How many experiments should be generated?
-.UNINDENT
-.SS Examples
-.INDENT 0.0
-.IP \(bu 2
-\fBpopulation_constant_density.1p0.I16.C4\fP: Constant density of 1.0. Arena
-dimensions will increase by 16 in both X and Y for each experiment in the
-batch (4 total).
-.UNINDENT
-.SS Variable Population Density
-.sp
-Changing the population size to investigate behavior across scales within a
-static arena size. This criteria is functionally identical to
-\fI\%Population Size\fP in terms of changes to the
-template XML file, but has a different semantic meaning which can make generated
-deliverables more immediately understandable, depending on the context of what
-is being investigated (e.g., population density vs. population size on the X
-axis).
-.sp
-\fBNOTE:\fP
-.INDENT 0.0
-.INDENT 3.5
-This criteria is for \fIvariable\fP density of robots as population sizes
-increase. For \fIconstant\fP robot density, use
-\fI\%Constant Population Density\fP\&.
-.UNINDENT
-.UNINDENT
-.SS Cmdline Syntax
-.sp
-\fBpopulation_variable_density.{density_min}.{density_max}.C{cardinality}\fP
-.INDENT 0.0
-.IP \(bu 2
-\fBdensity_min\fP \- <integer>p<integer> (i.e. 5p0 for 5.0)
-.IP \(bu 2
-\fBdensity_max\fP \- <integer>p<integer> (i.e. 5p0 for 5.0)
-.IP \(bu 2
-\fBcardinality\fP How many experiments should be generated? Densities for each
-experiment will be linearly spaced between the min and max densities.
-.UNINDENT
-.SS Examples
-.INDENT 0.0
-.IP \(bu 2
-\fBpopulation_variable_density.1p0.4p0.C4\fP: Densities of 1.0,2.0,3.0,4.0.
-.UNINDENT
-.SS Environment Variables
-.sp
-This platform respects \fI\%SIERRA_ARCH\fP\&.
-.SS Random Seeding For Reproducibility
-.sp
-ARGoS provides its own random seed mechanism under \fB<experiment>\fP which SIERRA
-uses to seed each experiment. \fI\%Project\fP code should use this mechanism or
-a similar random seed generator manager seeded by the same value so that
-experiments can be reproduced exactly. By default SIERRA does not overwrite its
-generated random seeds for each experiment once generated; you can override with
-\fB\-\-no\-preserve\-seeds\fP\&. See ln\-sierra\-tutorials\-project\-template\-input\-file and
-\fI\%Experimental Definition Requirements\fP for details on the format of the provided seed.
-.SH ROS1+GAZEBO PLATFORM
-.sp
-This platform can be selected via \fB\-\-platform=platform.ros1gazebo\fP\&.
-.sp
-This is the platform on which SIERRA will run experiments using the
-\fI\%Gazebo\fP simulator and \fI\%ROS1\fP\&. It cannot be used to run
-experiments on real robots. To use this platform, you must setup the
-\fI\%SIERRA ROSBridge\fP\&.
-.sp
-Worlds within ROS1+Gazebo are infinite from the perspective of physics engines,
-even though a finite area shows up in rendering. So, to place robots randomly in
-the arena at the start of simulation across \fI\%Experimental Runs\fP (if you want to do that) \(dqdimensions\(dq for a given world must
-be specified as part of the \fB\-\-scenario\fP argument. If you don\(aqt specify
-dimensions as part of the \fB\-\-scenario\fP argument, then you need to supply a
-list of valid robot positions via \fB\-\-robot\-positions\fP which SIERRA will choose
-from randomly for each robot.
-.SS Batch Criteria
-.sp
-See \fI\%Batch Criteria\fP for a thorough explanation of batch criteria, but the
-short version is that they are the core of SIERRA\-\-how to get it to DO stuff for
-you.  The following batch criteria are defined which can be used with any
-\fI\%Project\fP\&.
-.INDENT 0.0
-.IP \(bu 2
-\fI\%System Population Size\fP
-.UNINDENT
-.SS System Population Size
-.sp
-Changing the system size to investigate behavior across scales within a static
-arena size (i.e., variable density). Systems are homogeneous.
-.SS Cmdline Syntax
-.sp
-\fBpopulation_size.{model}{N}[.C{cardinality}]\fP
-.INDENT 0.0
-.IP \(bu 2
-\fBmodel\fP \- The population size model to use.
-.INDENT 2.0
-.IP \(bu 2
-\fBLog\fP \- Population sizes for each experiment are distributed 1...N by
-powers of 2.
-.IP \(bu 2
-\fBLinear\fP \- Population sizes for each experiment are distributed linearly
-between 1...N, split evenly into 10 different sizes.
-.UNINDENT
-.IP \(bu 2
-\fBN\fP \- The maximum population size.
-.IP \(bu 2
-\fBcardinality\fP \- If the model is \fBLinear\fP, then this can be used
-to specify how many experiments to generate; i.e, it defines the \fIsize\fP of the
-linear increment. Defaults to 10 if omitted.
-.UNINDENT
-.SS Examples
-.INDENT 0.0
-.IP \(bu 2
-\fBpopulation_size.Log1024\fP: Static population sizes 1...1024
-.IP \(bu 2
-\fBpopulation_size.Linear1000\fP: Static population sizes 100...1000 (10)
-.IP \(bu 2
-\fBpopulation_size.Linear3.C3\fP: Static population sizes 1...3 (3)
-.IP \(bu 2
-\fBpopulation_size.Linear10.C2\fP: Static population sizes 5...10 (2)
-.UNINDENT
-.SS Environment Variables
-.sp
-This platform ignores \fI\%SIERRA_ARCH\fP\&.
-.SS Random Seeding For Reproducibility
-.sp
-ROS1+Gazebo do not provide a random number generator manager, but SIERRA
-provides random seeds to each \fI\%Experimental Run\fP which \fI\%Project\fP
-code should use to manage random number generation, if needed, to maximize
-reproducability. See ln\-sierra\-tutorials\-project\-template\-input\-file and
-\fI\%Experimental Definition Requirements\fP for details on the format of the provided seed. By default
-SIERRA does not overwrite its generated random seeds for each experiment once
-generated; you can override with \fB\-\-no\-preserve\-seeds\fP\&.
-.SH ROS1+ROBOT PLATFORM
-.sp
-This platform can be selected via \fB\-\-platform=platform.ros1robot\fP\&.
-.sp
-This is the platform on which SIERRA will run experiments using \fI\%ROS1\fP on
-a real robot of your choice. To use this platform, you must setup the
-\fI\%SIERRA ROSBridge\fP\&.  This is a generic
-platform meant to work with most real robots which \fI\%ROS1\fP supports, and as
-a starting point to derive more specific platform configuration for a given
-robot (if needed). For all execution environments using this platform (see
-\fI\%Real Robot Execution Environment Plugins\fP for examples), SIERRA will run experiments
-spread across multiple robots using GNU parallel.
-.sp
-SIERRA designates the host machine as the ROS master, and allows you to
-(optionally) specify configuration for running one or more nodes on it in the
-\fB\-\-template\-input\-file\fP to gather data from robots (see below). This is
-helpful in some situations (e.g., simple robots which can\(aqt manage network
-mounted filesystems).
-.SS Batch Criteria
-.sp
-See \fI\%Batch Criteria\fP for a thorough explanation of batch criteria, but the
-short version is that they are the core of SIERRA\-\-how to get it to DO stuff for
-you. The following batch criteria are defined which can be used with any
-\fI\%Project\fP\&.
-.INDENT 0.0
-.IP \(bu 2
-\fI\%System Population Size\fP
-.UNINDENT
-.SS System Population Size
-.sp
-Changing the system size to investigate behavior across scales within a static
-arena size (i.e., variable density). Systems are homogeneous.
-.sp
-\fBpopulation_size.{model}{N}[.C{cardinality}]\fP
-.INDENT 0.0
-.IP \(bu 2
-\fBmodel\fP \- The population size model to use.
-.INDENT 2.0
-.IP \(bu 2
-\fBLog\fP \- Population sizes for each experiment are distributed 1...N by
-powers of 2.
-.IP \(bu 2
-\fBLinear\fP \- Population sizes for each experiment are distributed linearly
-between 1...N, split evenly into 10 different sizes.
-.UNINDENT
-.IP \(bu 2
-\fBN\fP \- The maximum population size.
-.IP \(bu 2
-\fBcardinality\fP \- If the model is \fBLinear\fP, then this can be used
-to specify how many experiments to generate; i.e, it defines the \fIsize\fP of the
-linear increment. Defaults to 10 if omitted.
-.UNINDENT
-.SS Examples
-.INDENT 0.0
-.IP \(bu 2
-\fBpopulation_size.Log1024\fP: Static population sizes 1...1024
-.IP \(bu 2
-\fBpopulation_size.Linear1000\fP: Static population sizes 100...1000 (10)
-.IP \(bu 2
-\fBpopulation_size.Linear3.C3\fP: Static population sizes 1...3 (3)
-.IP \(bu 2
-\fBpopulation_size.Linear10.C2\fP: Static population sizes 5...10 (2)
-.UNINDENT
-.SS Environment Variables
-.sp
-This platform ignores \fI\%SIERRA_ARCH\fP\&.
-.SS Random Seeding For Reproducibility
-.sp
-ROS do not provide a random number generator manager, but SIERRA provides random
-seeds to each \fI\%Experimental Run\fP which \fI\%Project\fP code should use to
-manage random number generation, if needed, to maximize reproducability. See
-ln\-sierra\-tutorials\-project\-template\-input\-file and
-\fI\%Experimental Definition Requirements\fP for details on the format of the provided seed. By
-default SIERRA does not overwrite its generated random seeds for each experiment
-once generated; you can override with \fB\-\-no\-preserve\-seeds\fP\&.
-.SS Real Robot Considerations
-.sp
-SIERRA makes the following assumptions about the robots it is allocated each
-invocation:
-.INDENT 0.0
-.IP \(bu 2
-No robots will die/run out of battery during an \fI\%Experimental Run\fP\&.
-.IP \(bu 2
-Password\-less ssh is setup to each robot SIERRA is handed to use (can be as a
-different user than the one which is invoking SIERRA on the host machine).
-.IP \(bu 2
-The robots have static IP addresses, or are always allocated an IP from a
-known set so you can pass the set of IPs to SIERRA to use. This set of IP
-address/hostnames can be explicitly passed to SIERRA via cmdline (see
-\fI\%Command Line Interface\fP) or implicitly passed via
-\fI\%SIERRA_NODEFILE\fP\&.
-.IP \(bu 2
-The ROS environment is setup either in the .bashrc for the robot login user,
-or the necessary bits are in a script which SIERRA sources on login to each
-robot (this is a configuration parameter\-\-see
-ln\-sierra\-tutorials\-project\-main\-config).
-.IP \(bu 2
-ROS does not provide a way to say \(dqRun this experiment for X seconds\(dq, so
-SIERRA inserts its own timekeeper node into each robot which will exit after X
-seconds and take the roslaunch process with it on each robot and/or the master
-node.
-.UNINDENT
-.sp
-See also \fI\%ROS1+Robot Platform\fP\&.
-.SH AUTHOR
-John Harwell
-.SH COPYRIGHT
-2022, John Harwell
-.\" Generated by docutils manpage writer.
-.