Hyperparameters

The parameters that define the general aspects of the mission to accomplish are defined in the main script of the master node under the dictionary variable "hyperparameters".

Hyperparameter	Definition
world	Name of the folder where world definition is
subworld	Name of JSON file inside the specified world folder
mission	Name of the folder where mission definition is
submission	Name of JSON file inside the specified mission folder
n_dataset	Number of the dataset to create
n_simulation	Number of simulation where to start instide the dataset
N_uav	Number of aerial vehicles to be aware of
N_obs	Number of static obstacles to be aware of
path_length	Length of the path for roles that follow one
solver_algorithm	Algorithm for obstacle-avoiding
N_iter	Bunch of simulations developed in the defined dataset
smach_view	Flag to decide if smach introspector is actived

World definition

The world structure follows a tree definition implemented in JSON format. Each tree depth level has particular features to be defined gathers its child elements. Those levels and its definition are:

Scenario

This is the top level. Every element of the world descends from it.

Feature	Definition
world_boundaries	Maximum limits on three axes referred to the global origin
volumes	List of sets of geometries

Volume

The elements positioned on the full world are gathered in volumes, all referenced to a common frame.

Feature	Definition
name	Unique identification
prefix	Short identification to differenciate its elements
origin	Volume frame location referenced to global frame
geometries	List of shapes inside the volume

Geometries

Related to a specific shape, spatial distribution of obstacles and Free Space Points (FSP) accessible for mission.

Feature	Definition
name	Unique identification
prefix	Short identification to differenciate its elements
shape	Geometric elemental shape
origin	Frame location referenced to volume frame
dimensions	Characteristic dimensions of the specified shape
color	RGB for visualisation marker
alpha	Transparency for visualisation marker
poses_sets	Spatial distribution of obstacles and FSP

Poses sets

Groups of poses arranged in a logical distribution used to locate obstacles or FSP.

Feature	Definition
type	Logical distribution of the set
use	Whether obstacle or FSP
poses_orientation	Orientation of every pose
set_orientation	General set orientation if required
obstacles_shape	Only for obstacles use
obstacles_dimensions	Only for obstacles use

Mission definition

A JSON file describes the UAVs that take part on the mission and the State Machine that implement it.

UAVs

A list containing the features of each drone.

Feature	Definition
ID	Unique identifier of the UAV
model	Aircraft frame
mode	Simulation level
marker_color	RGB & alpha for visualisation
uav_manager_on_gs	Nodes of aerial segment executed onboard or on the Ground Station

Mission state machine

The state machine is a sort of nested states or state machines (SM). The user must define the type, parameters and outcomes that interconect every state and state machine. The general structure to define them is very similar.

States:

Feature	Definition
type	SMACH state type
state_type	One of the implemented types of the SMACH state
name	Unique identifier
parameters	Inputs to the execution of the state
outcomes	Pointer to other states/SM

State Machines:

Feature	Definition
type	SMACH SM type
name	Unique identifier
ids	Second identification sorting
var	Variable that takes the value of the ids feature
occurencies	List of element SMACH elements
outcome_cb	[optional] Auxiliar autput selection function
occurrencies_outcome_map	[only for Concurrences] Outcome selection from internal outcomes
outcomes	Pointer to other states/SM

UAV configuration

Each UAV aircraft has a sort of features associated to its nature independently of the mission.

Feature	Definition
autopilot	Company builder of its navigation software
ual_use	Availability to use UAL
safety_radius	Minimum radius to detect collision
max_speed	Maximum velocity module the UAV should reach
Specifics	Features concerning a single autopilot or aircraft