lokky

Swarm algorithms module

Installation

Base install

pip install git+https://github.com/OnisOris/lokky

pip install lokky

Install with visualisation

pip install "lokky[plotting]"

Examples

import numpy as np
from lokky.pionmath import SSolver
n_points = 1
params = {
    "kp": np.ones((n_points, 6)),
    "ki": np.zeros((n_points, 6)),
    "kd": np.ones((n_points, 6)) * 0,
    "attraction_weight": 1.0,
    "cohesion_weight": 1.0,
    "alignment_weight": 1.0,
    "repulsion_weight": 1.0,
    "unstable_weight": 1.0,
    "noise_weight": 1.0,
    "current_velocity_weight": 0.0,
    "safety_radius": 1.0,
    "max_acceleration": 1.0,
    "max_speed": 1.0,
    "unstable_radius": 2,
}
solver = SSolver(params)
drone1 = np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
drone2 = np.array([1.0, 0.0, 0.0, 0.0, 0.0, 0.0])
target_matrix = np.array([4.0, 0.0, 0.0, 0.0, 0.0, 0.0])
state_matrix = np.array([drone1, drone2])
new_velocities = solver.solve_for_all(state_matrix, target_matrix, 0.1)

Testing script

After installation (lokky[plotting]) run scripts:

lokky-analyze --n 10