Multi-Agent Communications

Many times it’s necessary to communicate between agents. This can be done using the AcousticBeaconSensor or the OpticalModemSensor. Below are some examples of these.

Sending Acoustic Messages

The command biguasim.environments.BiguaSimEnvironment.send_acoustic_message() is used to send messages between acoustic beacons. There’s a number of message types that can be sent, all with varying functionality, see biguasim.sensors.AcousticBeaconSensor for details.

Further, a few helper functions exist if needed,

• biguasim.environments.BiguaSimEnvironment.beacons returns all beacons.

• biguasim.environments.BiguaSimEnvironment.beacons_id returns all beacons’ ids.

• biguasim.environments.BiguaSimEnvironment.beacons_status returns all beacons’ status (whether it’s transmitting or not).

import biguasim

cfg = {
    "name": "test_acou_coms",
    "world": "Pier-Harbor",
    "package_name": "SkyDive",
    "main_agent": "auv0",
    "ticks_per_sec": 200,
    "agents": [
        {
            "agent_name": "auv0",
            "agent_type": "BlueROV2",
            "sensors": [
                {
                    "sensor_type": "DynamicsSensor",
                    "socket": "IMUSocket",
                    "configuration": {
                        "UseCOM": True,
                        "UseRPY": False
                    }
                },
                {
                    "sensor_type": "AcousticBeaconSensor",
                    "location": [0,0,0],
                    "configuration": {
                        "id": 0
                    }
                },
            ],
            "dynamics" : {
                "batch_size" : 1
                },
            "control_abstraction": "cmd_vel",
            "location": [0, 0, -5]
        },
        {
            "agent_name": "auv1",
            "agent_type": "BlueROV2",
            "sensors": [
                {
                    "sensor_type": "DynamicsSensor",
                    "socket": "IMUSocket",
                    "configuration": {
                        "UseCOM": True,
                        "UseRPY": False
                    }
                },
                {
                    "sensor_type": "AcousticBeaconSensor",
                    "location": [0,0,0],
                    "configuration": {
                        "id": 1
                    }
                },
            ],
            "dynamics" : {
                "batch_size" : 1
                },
            "control_abstraction": "cmd_vel",
            "location": [0, 100, -5]
        }
    ]
}

env = biguasim.make(scenario_cfg=cfg)
env.reset()

# This is how you send a message from one acoustic com to another
# This sends from id 0 to id 1 (ids configured above)
# with message type "OWAY" and data "my_data_payload"
env.send_acoustic_message(0, 1, "OWAY", "my_data_payload")

for i in range(500):
    states = env.tick()

    if "AcousticBeaconSensor" in states['auv1'][0]:
        # For this message, should receive back [message_type, from_sensor, data_payload]
        print(i, "Received:", states['auv1'][0]["AcousticBeaconSensor"])
        break
    else:
        print(i, "No message received")

Sending Optical Messages

The command biguasim.environments.BiguaSimEnvironment.send_optical_message() is used to send messages between optical modems. See biguasim.sensors.OpticalModemSensor for configuration details. Note in order for a message to be transmitted, the 2 sensors must be aligned.

Further, a few helper functions exist if needed,

• biguasim.environments.BiguaSimEnvironment.modems returns all modems.

• biguasim.environments.BiguaSimEnvironment.modems_id returns all modems’ ids.

import biguasim

cfg = {
    "name": "test_acou_coms",
    "world": "Pier-Harbor",
    "package_name": "SkyDive",
    "main_agent": "auv0",
    "ticks_per_sec": 200,
    "agents": [
        {
            "agent_name": "auv0",
            "agent_type": "BlueROV2",
            "sensors": [
                {
                    "sensor_type": "DynamicsSensor",
                    "socket": "IMUSocket",
                    "configuration": {
                        "UseCOM": True,
                        "UseRPY": False
                    }
                },
                {
                    "sensor_type": "OpticalModemSensor",
                    "location": [0,0,0],
                    "socket": "COM",
                    "configuration": {
                        "id": 0
                    }
                },
            ],
            "dynamics" : {
                "batch_size" : 1
                },
            "control_abstraction": "cmd_vel",
            "location": [0, 0, -5]
        },
        {
            "agent_name": "auv1",
            "agent_type": "BlueROV2",
            "sensors": [
                {
                    "sensor_type": "DynamicsSensor",
                    "socket": "IMUSocket",
                    "configuration": {
                        "UseCOM": True,
                        "UseRPY": False
                    }
                },
                {
                    "sensor_type": "OpticalModemSensor",
                    "location": [0,0,0],
                    "socket": "COM",
                    "configuration": {
                        "id": 1
                    }
                },
            ],
            "dynamics" : {
                "batch_size" : 1
                },
            "control_abstraction": "cmd_vel",
            "location": [0, 100, -5]
        }
    ]
}

env = biguasim.make(scenario_cfg=cfg)
env.reset()

# This is how you send a message from one optical com to another
# This sends from id 0 to id 1 (ids configured above)
# with data "my_data_payload"
env.send_optical_message(0, 1, "my_data_payload")

for i in range(500):
    states = env.tick()

    if "OpticalModemSensor" in states['auv1'][0]:
        print(i, "Received:", states['auv1'][0]["OpticalModemSensor"])
        break
    else:
        print(i, "No message received")