randomSeed=100.00
Number of steps in the dataset (each row in the dataset is one step; each column is one sensor output): 100021
NEcorner of environment is: 50.00,  50.00.
SWcorner of environment is: 0.00,  0.00.
A=
-0.50,0.80,0.00,0.00,0.00,0.00,0.00,0.00,
-0.80,-0.50,0.00,0.00,0.00,0.00,0.00,0.00,
0.00,0.00,-0.95,0.00,0.00,0.00,0.00,0.00,
0.00,0.00,0.00,0.90,0.00,0.00,0.00,0.00,
0.00,0.00,0.00,0.00,0.60,0.70,0.00,0.00,
0.00,0.00,0.00,0.00,-0.70,0.60,0.00,0.00,
0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.90,
0.00,0.00,0.00,0.00,0.00,0.00,-0.90,0.00,
Q=
100.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,
0.00,100.00,0.00,0.00,0.00,0.00,0.00,0.00,
0.00,0.00,100.00,0.00,0.00,0.00,0.00,0.00,
0.00,0.00,0.00,100.00,0.00,0.00,0.00,0.00,
0.00,0.00,0.00,0.00,100.00,0.00,0.00,0.00,
0.00,0.00,0.00,0.00,0.00,100.00,0.00,0.00,
0.00,0.00,0.00,0.00,0.00,0.00,100.00,0.00,
0.00,0.00,0.00,0.00,0.00,0.00,0.00,100.00,
R=
20.00,0.00,0.00,
0.00,20.00,0.00,
0.00,0.00,20.00,
x0=
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
num of robots=3
Their initial positions on the periodic traj are:
WayPoint 1
WayPoint 2
WayPoint 3
RBF basis: c_i(p)=K*exp(-(p-qi)^2/(2*sigma^2)),qi is the position of the i-th basis center.
Radial Basis Function (RBF) centers with K equals 10, sigma equals 20:
Basis 1 Center Position: 27.17,13.92
Basis 2 Center Position: 21.23,42.24
Basis 3 Center Position: 0.24,6.08
Basis 4 Center Position: 33.54,41.29
Basis 5 Center Position: 6.84,28.75
Basis 6 Center Position: 44.57,10.46
Basis 7 Center Position: 9.27,5.42
Basis 8 Center Position: 10.98,48.93
Periodic trajectory with period equals 10:
WayPoint 1 Position: 10.00,15.00
WayPoint 2 Position: 19.81,13.04
WayPoint 3 Position: 29.61,11.08
WayPoint 4 Position: 38.26,16.09
WayPoint 5 Position: 38.99,26.07
WayPoint 6 Position: 39.71,36.04
WayPoint 7 Position: 29.91,38.01
WayPoint 8 Position: 20.10,39.98
WayPoint 9 Position: 14.92,31.43
WayPoint 10 Position: 9.74,22.87