Policies¶

RandomPolicy¶

A RandomPolicy simply moves the vehicle in a random direction.

RandomPolicy()


GreedyPolicy¶

A GreedyPolicy moves the agent in the direction that minimizes the expected entropy after moving.

GreedyPolicy(x::Vehicle, n::Int)


The integer n denotes how many actions should be considered. If n=6, then the agent considers the expected entropy given 6 different directions, spaced an even 60 degrees apart.

CirclePolicy¶

A CirclePolicy moves the agent perpendicularly to the last recorded bearing measurement, which ends up drawing a circle around the source. The constructor is as follows:

CirclePolicy()


The CirclePolicy implicitly assumes that the sensor is of BearingOnly type.

Custom Policy¶

You can create your own policies by extending the abstract Policy class and implementing the action function. Below is an example. Remember that to extend FEBOL’s action function, you must import it instead of just relying on using:

using FEBOL
import FEBOL.action

type CustomPolicy <: Policy
end

function action(m::SearchDomain, x::Vehicle, o::Float64, f::AbstractFilter, p::CustomPolicy)

Feel free to take advantage of the normalize function to ensure your action’s norm is equal to the maximum distance the vehicle can take per time step:
normalize(a::Action, x::Vehicle)