BPjsLeaderFollower

This project is a solution to the leader-follower challenge from MODELS18. It contains logic that controls a rover, making sure it to follows another rover at a safe distance. The controller logic is written using Behavioral Programming (BP), using BPjs.

The code in this repository is arranged using Maven, which means most IDEs support it out-of-the-box, or via plugins.

What's here

• README.md: This file
• data: Interesting runs and their analyses
• pom.xml: Maven project file
• src: Source code (both Java and Javascript)

What to run

This project contains a few executable classes:

• il.ac.bgu.cs.bp.leaderfollower.BPJsRoverControl: Our implementation of the leader/follower challenge. Running this class opens an application that connects to the UnityObserver.jar application, and then displays a window allowing users to start the simulation.
• il.ac.bgu.cs.bp.leaderfollower.ComplexEnvironmentVerification: Runs verification on the rover control logic. This verification checks that the distance between the follower and the leader is no larger than 15 units.
• il.ac.bgu.cs.bp.leaderfollower.SimpleModelChecking: Verifies simple properties of the model, by pushing specific Telemetry events and expecting some response. This approach is close to unit testing, but it is resilient to indeterminism in the tested code.
• il.ac.bgu.cs.bp.leaderfollower.StaleGoSlowVerification: Verifies an old version of the rover control model, and exposes a bug where a GoSlowGradient event with stale data is selected. The results of this verification can be seen here.

How to Run

• From an IDE: select a main class to run (see above about which class).
• From the commandline:
  1. Make sure Maven and Java are installed and are known to the commandline (e.g. in UNIX, part of the $PATH).
  2. Generate a .jar file: Run mvn -P uber-jar package at the repository's top-level directory.
  3. Run: java -cp target/BPjsLeaderFollower-0.5-DEV.jar [[main class]]

How to Control a Rover

• Download the simulators from https://mdetools.github.io/mdetools18/challengeproblem.html
• Run the simulator for your platform, and UnityObserver.jar. Make sure that the observer connected to the simulator successfully.
• Run class il.ac.bgu.cs.bp.leaderfollower.BPJsRoverControl.

Notes

• The settings file config.txt is stored in the resources folder.

Infrastructure

• This project uses BPjs.
• BPjs uses the Mozilla Rhino Javascript engine. See here for project page and source code.