This folder contains navigation benchmark models generated using Hyst, and their pysim simulation images.

The navigation models that are here are from the original paper: http://ai.eecs.umich.edu/people/rounds/HSCC/83.pdf

They are generated by running the included hypy script plot.py. 

The ModelGenerator parameter help within Hyst is:

Arguments:
 -i_list i1 i2 ...       : space-separated list of target velocity i value for
                           each mode, each i is 0-8 or 'A' or 'B'
 -matrix a11 a12 a21 a22 : space-sepeated values of four-element matrix A, like
                           '-1.2 0.1 0.1 -1.2'
 -noise VAL              : amount of input noise [-val,val] to add to xvel and
                           yel (default: 0.0)
 -prefix NAME            : mode name prefix (default: mode_)
 -startx REAL            : x start position
 -starty REAL            : y start position
 -width WIDTH            : width of the grid (# of modes)

To generate a model within Hyst, use the parameters: java -jar Hyst.jar -gen nav "GENARGUMENT" -pysim -o outModel.py

Stanley Bak
May 2016
