success rate measure added to resilience metrics

examples/coevolution/experiment.py

@@ -184,6 +184,7 @@ def single_evo(args):
     parser.add_argument('--stoplen', default=0, type=int)
     parser.add_argument('--iprob', default=0.85, type=float)
     parser.add_argument('--stop_interval', default=1000, type=int)
+    parser.add_argument('--no_debris', default=10, type=int)
     args = parser.parse_args()
     args.stoplen = args.time + args.stop_interval
     print(args)

examples/coevolution/model.py

@@ -58,7 +58,7 @@ def __init__(
                 str(N), str(iter), str(threshold), str(gstep), str(expp),
                 str(args.addobject), str(args.removeobject),
                 str(args.no_objects), str(args.radius),
-                str(args.time), str(args.iprob),
+                str(args.time), str(args.iprob), str(args.no_debris),
                 str(self.runid) + name
                 )
         Path(self.pname).mkdir(parents=True, exist_ok=True)
@@ -156,20 +156,20 @@ def build_environment_from_json(self):
             self.site = self.render.objects['sites'][0]
             self.sites = []
             self.sites += [self.site]
-            for i in range(self.num_agents * 1):
-                # Add food to the site
-                f = Food(
-                    i, location=self.site.location, radius=self.site.radius)
-                f.agent_name = None
-                self.grid.add_object_to_grid(f.location, f)
-                self.total_food_units += f.weight
-                f.phenotype = dict()
-                self.foods.append(f)
-
-            for j in range(self.num_agents//4):
+            # for i in range(self.num_agents //99):
+            #     # Add food to the site
+            #     f = Food(
+            #         i, location=self.site.location, radius=self.site.radius)
+            #     f.agent_name = None
+            #     self.grid.add_object_to_grid(f.location, f)
+            #     self.total_food_units += f.weight
+            #     f.phenotype = dict()
+            #     self.foods.append(f)
+
+            for j in range(self.args.no_debris):
                 # Add debris around the hub
                 d = Debris(
-                    j, location=self.hub.location, radius=10, weight=2)
+                    j, location=self.hub.location, radius=10, weight=5)
                 d.agent_name = None
                 self.grid.add_object_to_grid(d.location, d)
                 self.total_debris_units += d.weight
@@ -291,13 +291,14 @@ def foraging_percent(self):
         #     _, food_grid = grid.find_grid(food.location)
         #     if food_grid == hub_grid:
         #         food_objects += [food]
-        food_objects = list(set(self.hub.dropped_objects))
-        food_objects = [
-            food for food in food_objects if type(food).__name__ == 'Food']
-        # food_objects = set(food_objects)
-        total_food_weights = sum([food.weight for food in food_objects])
-        return np.round(
-            ((total_food_weights * 1.0) / self.total_food_units) * 100, 2)
+        # food_objects = list(set(self.hub.dropped_objects))
+        # food_objects = [
+        #     food for food in food_objects if type(food).__name__ == 'Food']
+        # # food_objects = set(food_objects)
+        # total_food_weights = sum([food.weight for food in food_objects])
+        # return np.round(
+        #     ((total_food_weights * 1.0) / self.total_food_units) * 100, 2)
+        return 0
 
     def maintenance_percent(self):
         """Find amount of debris cleaned."""

examples/coevolution/resilience_metrics.py

@@ -270,12 +270,13 @@ def addition_efficiency_power(fname="EvoCoevolutionPPA"):
     timings = range(1000, 11001, 1000)
     allpower = {}
     allefficiency = {}
+    hitrate = []
     for t in timings:
         data = np.squeeze(read_data_n_agent_perturbations_all(
             n=100, iter=12000, threshold=7, time=t, iprob=0.85,
             addobject='Obstacles', no_objects=2,
             radius=10, idx=[2], fname=fname))
-
+        # print(data.shape)
         powerdata100 = data[:, -1]
         allpower[t] = powerdata100
 
@@ -284,10 +285,11 @@ def addition_efficiency_power(fname="EvoCoevolutionPPA"):
         effdata = [np.array(
             [effdata[i][0] if effdata[i].shape[
                 0] > 1 else 12000 for i in range(len(effdata))])]
+        hitrate.append(np.sum(effdata[0]!=12000)/effdata[0].shape[0])
         effdata = [(
             ((12000-effdata[i])/12000)*100) for i in range(len(effdata))]
         allefficiency[t] = np.round(effdata[0], 2)
-
+    print('Success Rate', np.round(np.median(np.array(hitrate)), 2))
     X = np.concatenate(
         np.array([[i] * len(v[1]) for (i, v) in enumerate(allpower.items())]))
     Y = np.concatenate(np.array([v for _, v in allpower.items()]))
@@ -497,8 +499,10 @@ def main():
     # distortion_efficiency_power(fname="EvoNestMNewPPA1")
     # shift_efficiency_power(fname="EvoNestMNewPPA1")
     # shift_efficiency_power()
-    plot_power_efficiency_subplots()
+    # plot_power_efficiency_subplots()
     # addition_efficiency_power(fname="EvoNestMNewPPA1")
+    addition_efficiency_power(fname="EvoCoevolutionPPA")
+    # addition_efficiency_power(fname="EvoCoevolutionPPAAd")
 
 
 if __name__ == "__main__":

examples/coevolution/world.json

@@ -7,16 +7,16 @@
 
     "sites": [
       {
-        "x":30,
-        "y":30,
+        "x":-30,
+        "y":-30,
         "radius":10,
         "q_value":0.9
       }
     ],
     "boundary": [
       {
-        "x":-30,
-        "y":-30,
+        "x":30,
+        "y":30,
         "radius":10
       },
       {

examples/modularity/computemetrics.py

@@ -158,7 +158,8 @@ def compute_DEP(equivalance, succesor):
 
 def main():
     gnames = [
-        '/tmp/coevo.bnf', '/tmp/bt.bnf', '/tmp/swarm.bnf']
+        '/tmp/coevo.bnf', '/tmp/bt.bnf', '/tmp/swarm.bnf',
+        '/tmp/coevoAddition.bnf']
     for gname in gnames:
         size_metrics(gname)
         structure_metrics(gname)

grammars/coevo.bnf

@@ -17,7 +17,7 @@
 <constraintt> ::=CanMove|IsCarryable_<dobjects>|IsDropable_<sobjects>
 
 <action> ::= MoveTowards_<sobjects>_Normal|Explore_0_Normal|MoveAway_<sobjects>_Normal|CompositeSingleCarry_<dobjects>|CompositeDrop_<dobjects>
-<sobjects>::=Boundary|Hub|Sites
-<dobjects>::=Debris|Food
+<sobjects>::=Boundary|Hub
+<dobjects>::=Debris
 <objects>::=<sobjects>|<dobjects>
 <SuccessNode> ::= [PostCnd]DummyNode[/PostCnd]

swarms/behaviors/sbehaviors.py

@@ -814,50 +814,75 @@ def initialise(self):
 
     def update(self):
         """Logic to drop the item."""
-        try:
-            # Get the objects from the actuators
-            objects = list(filter(
-                lambda x: type(x).__name__ == self.item,
-                self.agent.attached_objects))[0]
-            # Grid
-            grid = self.agent.model.grid
-            static_grids = grid.get_neighborhood(self.agent.location, 1)
-            envobjects = self.agent.model.grid.get_objects_from_list_of_grid(
-                None, static_grids)
-
-            envobjects = [
-                e for e in envobjects if type(e).__name__.find('Agent')== -1]
-
-            unique_envobjs_name = set(
-                [type(
-                    envobj).__name__ for envobj in envobjects])
-            dropped = False
-            # print('drop mod', objects, unique_envobjs_name, envobjects)
+        # try:
+        # Get the objects from the actuators
+        objects = list(filter(
+            lambda x: type(x).__name__ == self.item,
+            self.agent.attached_objects))[0]
+        # Grid
+        grid = self.agent.model.grid
+        static_grids = grid.get_neighborhood(self.agent.location, 1)
+        envobjects = self.agent.model.grid.get_objects_from_list_of_grid(
+            None, static_grids)
+
+        envobjects = [
+            e for e in envobjects if type(e).__name__.find('Agent')== -1]
+
+        unique_envobjs_name = set(
+            [type(
+                envobj).__name__ for envobj in envobjects])
+        # dropped = False
+        # print('drop mod', objects, unique_envobjs_name, envobjects)
+
+        ## If attached object food, can't drop on boundary or obstacles
+        ## If attached object debri, can't drop on hub
+        def drop(sobject, aobject):
+            sobject.dropped_objects.append(aobject)
+            self.agent.attached_objects.remove(aobject)
+            sobject.agent_name = self.agent.name
+            return True
+
+        if type(objects).__name__ == 'Food':
             if (
-                ('Hub' in unique_envobjs_name) and (
+                ('Boundary' in unique_envobjs_name) or (
+                    'Obstacles' in unique_envobjs_name)):
+                return common.Status.FAILURE
+            elif (
+                    ('Hub' in unique_envobjs_name) and (
                     'Debris' in unique_envobjs_name)):
                 return common.Status.FAILURE
+            elif (
+                    ('Hub' in unique_envobjs_name) and (
+                    'Debris' not in unique_envobjs_name)):
+                for envobj in envobjects:
+                    if type(envobj).__name__ == 'Hub':
+                        drop(envobj, objects)
+                        return common.Status.SUCCESS
             else:
-                for obj in envobjects:
-                    if (
-                        type(obj).__name__ in ['Hub'] and (
-                            'Debris' not in unique_envobjs_name)) or (
-                                    type(obj).__name__ in [
-                                        'Boundary', 'Obstacles']):
-                        dropped = True
-                        obj.dropped_objects.append(objects)
-                        self.agent.attached_objects.remove(objects)
-                        objects.agent_name = self.agent.name
-                        break
-
-            if not dropped:
                 self.agent.model.grid.add_object_to_grid(
                     objects.location, objects)
                 self.agent.attached_objects.remove(objects)
                 objects.agent_name = self.agent.name
-            return common.Status.SUCCESS
-        except (AttributeError, IndexError):
-            return common.Status.FAILURE
+                return common.Status.SUCCESS
+        else:
+            if (
+                ('Hub' in unique_envobjs_name) or (
+                    'Obstacles' in unique_envobjs_name)):
+                return common.Status.FAILURE
+            elif (
+                    ('Boundary' in unique_envobjs_name)):
+                for envobj in envobjects:
+                    if type(envobj).__name__ == 'Boundary':
+                        drop(envobj, objects)
+                        return common.Status.SUCCESS
+            else:
+                self.agent.model.grid.add_object_to_grid(
+                    objects.location, objects)
+                self.agent.attached_objects.remove(objects)
+                objects.agent_name = self.agent.name
+                return common.Status.SUCCESS
+        # except (AttributeError, IndexError):
+        #     return common.Status.FAILURE
 
 
 class DropPartial(Behaviour):

test/test_swarm_drop_modified.py

@@ -63,7 +63,7 @@ def __init__(self, N, width, height, grid=10, seed=None):
         self.food = Food()
         self.grid.add_object_to_grid(self.food.location, self.food)
 
-        self.debris = Debris()
+        self.debris = Debris(location=(40, 40), radius=10, weight=5)
         self.grid.add_object_to_grid(self.debris.location, self.debris)
 
         self.boundary = Boundary(location=(30, 30), radius=10)
@@ -72,17 +72,23 @@ def __init__(self, N, width, height, grid=10, seed=None):
         for i in range(1):
             a = SwarmAgentDrop(i, self)
             self.schedule.add(a)
-            x = 30
-            y = 30
+            x = 0
+            y = 0
             a.location = (x, y)
             a.direction = -2.3561944901923448
             self.grid.add_object_to_grid((x, y), a)
         self.agent = a
+
         self.agent.attached_objects.append(self.food)
         self.agent.model.grid.remove_object_from_grid(
             self.food.location, self.food)
         self.food.agent_name = self.agent.name
 
+        # self.agent.attached_objects.append(self.debris)
+        # self.agent.model.grid.remove_object_from_grid(
+        #     self.debris.location, self.debris)
+        # self.debris.agent_name = self.agent.name
+
     def step(self):
         self.schedule.step()
 
@@ -93,7 +99,8 @@ def setUp(self):
         self.environment = DropSwarmEnvironmentModel(1, 100, 100, 10, 123)
 
         for i in range(2):
-            print(self.environment.agent.location)
+            print(
+                self.environment.agent.location, self.environment.agent.attached_objects)
             self.environment.step()
 
     def test_agent_path(self):