Consecutive Simulations Approach

<sidebar>Robotic Sensing: Adaptive Robotic Control for Improved Acoustic Source Localization in 2D Nav</sidebar>

A complication arose when running each degree of freedom movement, called modes, in the same simulation. They all had to be performed in a sequence rather than simultaneously for the robots to use all of the changes made by the modes. Also, each mode orders the questions in the same sequence every time. However, during the beginning of the simulations many of the resolutions improved due to the robot rotation alone. This would cause the first question asked, of any of the modes, to be flagged as an improvement without consideration of the following two questions. This problem was solved by placing all of the modes running simulations into a “for loop” so that each mode asked its questions twice (the loop runs for two iterations). The important effect of the second iteration is that it considers the changes made by the first iteration and improves the result unaffected by the robot rotation as the robots are starting from improved angles rather than the initial angles. It also allows for each change to be reconsidered in light of the inputs from the other modes.