Guarded command programs with rates

Setpoint Regulation for Stochastically Interacting Robots, N. Napp, S. Burden and E. Klavins. Robotics: Science and Systems V. MIT Press. 2009.

CCL - computation and control language
- Install the "factory floor" version of the program
- Follow the directions in the README file (make sure to 'source init_env').
- Alternatively...
  - Make sure to set the envrionment variable CCL_ROOT to the location of the CCL source code (main directory)
  - I had to set the environment variable LD_LIBRARY_PATH to $CCL_ROOT/lib to get ccli to run
Robot simulation library (Subversion repository)
- Check this out using the command 'svn http://soslab.ee.washington.edu/svn/efri/ff/'
- Put the resulting file in the ccl library (you may need to replace the subdirecotry that is there)
- Run 'make clean' followed by 'make'
- The "tower" example in the lecture is in 'tower2.ccl'. Run this (using ccli) and then run "visualize" (in the ff subdirectory) to see the movies that were presented
est_modular.ccl - Multi-agent consensus example
- Run this by typing 'ccli est_modular.ccl' (assume ccli is in your path and est_modular.ccl is in your current directory)