d803bfe2b1
git-subtree-dir: vendor/ruvector git-subtree-split: b64c21726f2bb37286d9ee36a7869fef60cc6900
123 lines
3.7 KiB
Rust
123 lines
3.7 KiB
Rust
//! Example: multi-robot swarm coordination.
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//!
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//! Demonstrates:
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//! - Registering robots with capabilities
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//! - Task assignment based on capability matching
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//! - Formation computation (line, circle, grid)
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//! - Consensus voting
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use ruvector_robotics::cognitive::{
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Formation, FormationType, RobotCapabilities, SwarmConfig, SwarmCoordinator, SwarmTask,
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};
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fn main() {
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println!("=== Swarm Coordination Demo ===\n");
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let config = SwarmConfig {
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max_robots: 10,
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communication_range: 100.0,
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consensus_threshold: 0.5,
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};
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let mut coordinator = SwarmCoordinator::new(config);
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// Register robots
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let robots = vec![
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RobotCapabilities {
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id: 1,
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max_speed: 2.0,
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payload: 10.0,
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sensors: vec!["lidar".into(), "camera".into()],
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},
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RobotCapabilities {
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id: 2,
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max_speed: 1.5,
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payload: 50.0,
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sensors: vec!["lidar".into(), "gripper".into()],
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},
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RobotCapabilities {
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id: 3,
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max_speed: 3.0,
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payload: 5.0,
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sensors: vec!["camera".into(), "thermal".into()],
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},
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RobotCapabilities {
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id: 4,
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max_speed: 1.0,
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payload: 100.0,
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sensors: vec!["lidar".into(), "gripper".into(), "camera".into()],
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},
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];
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for robot in &robots {
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let registered = coordinator.register_robot(robot.clone());
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println!("Registered robot {} (speed={}, sensors={:?}): {}",
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robot.id, robot.max_speed, robot.sensors, registered);
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}
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println!("\nActive robots: {}\n", coordinator.robot_count());
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// Task assignment
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println!("--- Task Assignment ---");
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let tasks = vec![
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SwarmTask {
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id: 100,
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description: "Inspect corridor A".into(),
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location: [10.0, 0.0, 0.0],
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required_capabilities: vec!["camera".into()],
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priority: 5,
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},
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SwarmTask {
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id: 101,
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description: "Move pallet B".into(),
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location: [5.0, 5.0, 0.0],
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required_capabilities: vec!["gripper".into()],
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priority: 8,
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},
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SwarmTask {
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id: 102,
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description: "Map area C".into(),
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location: [0.0, 10.0, 0.0],
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required_capabilities: vec!["lidar".into()],
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priority: 3,
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},
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];
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let assignments = coordinator.assign_tasks(&tasks);
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for a in &assignments {
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let task = tasks.iter().find(|t| t.id == a.task_id).unwrap();
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println!(
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" Robot {} -> Task {} ({}) [ETA: {:.1}s]",
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a.robot_id, a.task_id, task.description, a.estimated_completion
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);
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}
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// Formation computation
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println!("\n--- Formations ---");
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for (name, ftype) in [
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("Line", FormationType::Line),
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("Circle", FormationType::Circle),
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("Grid", FormationType::Grid),
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] {
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let formation = Formation {
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formation_type: ftype,
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spacing: 3.0,
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center: [0.0, 0.0, 0.0],
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};
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let positions = coordinator.compute_formation(&formation);
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println!(" {} formation:", name);
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for (i, pos) in positions.iter().enumerate() {
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println!(" Robot {}: [{:.2}, {:.2}, {:.2}]", i, pos[0], pos[1], pos[2]);
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}
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}
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// Consensus
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println!("\n--- Consensus Voting ---");
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let result = coordinator.propose_consensus("Explore sector 7");
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println!(
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" Proposal: '{}' -> {} (for={}, against={})",
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result.proposal,
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if result.accepted { "ACCEPTED" } else { "REJECTED" },
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result.votes_for,
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result.votes_against,
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);
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}
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