Inheritance diagram for cslam.broker.Broker:

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Public Member Functions
def	__init__ (self, edges, robots_involved)

def	brokerage (self, use_vertex_cover)

def	vertex_cover (self)

def	simple_dialog (self)

Public Attributes
	edges

	is_multi_robot_graph

	is_bipartite

	matching_graph

Detailed Description

The broker decides which vertices in the matching 
graph are to be shared between the robots.

Definition at line 8 of file broker.py.

Constructor & Destructor Documentation

◆ init()

def cslam.broker.Broker.__init__	(	self,
		edges,
		robots_involved
	)

Initialize the broker

Args:
    edges (list(EdgeInterRobot)): _description_
    robots_involved (list(int)): Robot ids of the 
                        robots involved in the exchange

Definition at line 13 of file broker.py.

Member Function Documentation

◆ brokerage()

def cslam.broker.Broker.brokerage	(	self,
		use_vertex_cover
	)

Return the broker selection of vertices to send.
Either using vertex cover or simple dialog strategy.

Args:
    use_vertex_cover (bool): use vertex cover stratehy

Returns:
    List(set((int,int)): Vertices to be transmitted

Definition at line 66 of file broker.py.

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◆ simple_dialog()

def cslam.broker.Broker.simple_dialog ( self )

Simple dialog exchange
For each edge, transmit one of the two vertices randomly
unless one of the 2 vertices is already transmitted.

Returns:
    List(set((int,int)): Vertices to be transmitted

Definition at line 112 of file broker.py.

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◆ vertex_cover()

def cslam.broker.Broker.vertex_cover ( self )

Computes the minimum vertex cover over the edges
If the graph is bipartite: we compute the maximum matching and
 recover the minimum vertex cover with Konig's theorem

Otherwise, we use an approximate greedy algorithm.

Returns:
    List(set((int,int)): Vertices to be transmitted

Definition at line 84 of file broker.py.

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Member Data Documentation

◆ edges

cslam.broker.Broker.edges

Definition at line 21 of file broker.py.

◆ is_bipartite

cslam.broker.Broker.is_bipartite

Definition at line 33 of file broker.py.

◆ is_multi_robot_graph

cslam.broker.Broker.is_multi_robot_graph

Definition at line 29 of file broker.py.

◆ matching_graph

cslam.broker.Broker.matching_graph

Definition at line 42 of file broker.py.

The documentation for this class was generated from the following file:

/home/lajoiepy/Documents/phd/projects/C-SLAM/Swarm-SLAM/src/cslam/cslam/broker.py

Public Member Functions

Public Attributes