; Hi everyone, this is my solution to the last exercise sheet, I'll try to comment some of the critical ideas ; but there are still some parts that are far away from self explanatory and I still won't comment. breed [sensors sensor] ; first of all we have 3 breeds, Robots, sensors and lamps breed [robots robot] robots-own [pfitness fitness fitnesslist weight11 weight12 weight21 weight22 LampDistn-1] breed [lamps lamp] sensors-own [number LampDist] globals [max-l Wheel reklist] ; Wheel is the array with the components of the roulette-wheel algorithm ; RekList the one with the elements for the recombination. ; pay no mind to max-l ;----------------------------setup----------------------------- to setup ca set Wheel [] set reklist [] set max-l sqrt (max-pxcor ^ 2 + max-pycor ^ 2) ; max-l is one of the remnants of an alternative model, it's value has no special meaning, ; it just works with my actual model, and I didn't felt like changing it :D create-lamps 1 [ set xcor 0 set ycor 0 set color yellow set shape "lamp" set size 15 ] create-vehicles end to create-vehicles ; --- each robot creates 2 sensors in front of him, links and ties them to himself create-robots RobotCount [set size 4 set shape "vehicle" set color 13 set xcor random-xcor set ycor random-ycor ] ask robots [ set weight12 random-float 1 set weight21 random-float 1 set weight11 random-float 1 set weight22 random-float 1 hatch-sensors 1 [set size 3 set shape "dot" set color 93 set number 1 ] hatch-sensors 1 [set size 3 set shape "dot" set color 93 set number 2 ] create-links-with other sensors in-radius 0 set Lampdistn-1 distance lamp 0 set fitnesslist [] ] ask sensors with [number = 1][lt 45 fd 3] ask sensors with [number = 2][rt 45 fd 3] ask links [tie] end to go update move fitness-function if ticks mod EvolutionPeriod = 0 [ ; Evolution only takes place every "EvolutionFreq" steps Roulette Evolve ] if random 100 < mutationp [ ; Mutation only takes place with "PutationP"% probability mutate ] PlotIt tick end to move ask robots [fd 1 ; special thanks to Johannes Walter for the simple but primordial idea of a constant ; speed, now the intensity of the lights controls only the turning. ifelse fullconnection [ rt (weight12 + weight11) * [lampdist] of one-of link-neighbors with [ number = 1] * 200 / max-l ; REMNANTS! neither 200 nor max-l have no special meaning lt (weight21 + weight22) * [lampdist] of one-of link-neighbors with [ number = 2] * 200 / max-l ] [rt weight12 * [lampdist] of one-of link-neighbors with [ number = 1] * 200 / max-l ; Complete conected neural network lt weight21 * [lampdist] of one-of link-neighbors with [ number = 2] * 200 / max-l ] ] end to update ask sensors [set lampdist distance lamp 0 ] ask robots [set lampdistn-1 distance lamp 0 ] ask robots with [any? lamps in-radius 3] [ reborn ] ;--- whenever a robot reaches the lamp it gets the "chance" to do it again, ; and again and again... ifelse followfittest [ follow max-one-of robots [fitness] ] [follow lamp 0] end to reborn ask link-neighbors [die] set xcor random-xcor set ycor random-ycor hatch-sensors 1 [set size 3 set shape "dot" set color 93 set number 1 ] hatch-sensors 1 [set size 3 set shape "dot" set color 93 set number 2 ] create-links-with other sensors in-radius 0 set Lampdistn-1 distance lamp 0 ask sensors with [number = 1] in-radius 0 [lt 45 fd 3] ask sensors with [number = 2] in-radius 0[rt 45 fd 3] ask links [tie] end to fitness-function ; --- a pretty basic fitness function, it evaluates how much the robots moved in the right direction after every tick ; maybe some room for improvement here... ask robots [ set fitnesslist lput ((lampdistn-1 - distance lamp 0)) fitnesslist if (length fitnesslist > 100) [ ; --- this smoothing for my fitness function was entirely set fitnesslist but-first fitnesslist] ;designed by Timo Maul, and yet my algorithm would have set fitness sum fitnesslist ;failed without it. if fitness < 0 [set fitness 0.1] set pfitness fitness / sum [fitness] of robots ; the proportional fitness which will later be used for the Roulette-Wheel Algorithm ] end to Roulette ; --- Roulette-Wheel Algorithm, nothing more nothing else, might try to implement Stochastic Universal Sampling tomorrow, not sure about it... set reklist [] ; empty the list with the agents for the recombination set Wheel [0] ; now this I think is very smart, turtle 0 is our lamp, so now every robot gets the index of the array according to his number ; saves a lot of -1s or +1s :) let i 1 while [i < robotcount + 1 ][ ; build our roulette-wheel set Wheel lput ( item (i - 1) Wheel + [pfitness] of robot i ) Wheel set i i + 1 ] repeat 2 [ ; spin the wheel twice and take the agents for the recombination let j random-float 1 ; let k 0 while [j > item k Wheel and k + 1 < length Wheel] [ set k k + 1 ] set reklist lput (robot k) reklist ] end to Evolve ; --- "kill" the robot with the worst fitness by turning it into the new offspring, since the population ; is rather low one robot at the time should be fast enough. Otherwise rise EvoFreq ;) ask robots with-min [fitness] [ set weight12 [weight12] of item 0 reklist set weight21 [weight21] of item 1 reklist if fullconnection [ set weight11 [weight11] of item 0 reklist set weight22 [weight22] of item 1 reklist ] ] end to Mutate ;--- mutate one of the weights with a chance of 50% ifelse random 2 mod 2 = 0 [ ask one-of robots [set weight12 weight12 - mutationstep + random-float (2 * mutationstep)] ] [ask one-of robots [set weight21 weight21 - mutationstep + random-float (2 * mutationstep)]] if fullconnection [ ifelse random 2 mod 2 = 0 [ ask one-of robots [set weight11 weight11 - mutationstep + random-float (2 * mutationstep)]] [ask one-of robots [set weight22 weight22 - mutationstep + random-float (2 * mutationstep)]] ] end to PlotIt ;--- this is the plot, it means we are done! any questions or suggestions? set-current-plot "Best Fitness vs Gobal Fitness" set-current-plot-pen "GlobalF" plot sum [fitness] of robots / robotcount set-current-plot-pen "BestF" plot [fitness] of max-one-of robots [fitness] end @#$#@#$#@ GRAPHICS-WINDOW 225 10 687 485 56 55 4.0 1 1 1 1 1 0 1 1 1 -56 56 -55 55 1 1 1 ticks BUTTON 20 27 86 60 NIL Setup NIL 1 T OBSERVER NIL NIL NIL NIL BUTTON 119 28 182 61 NIL Go\n T 1 T OBSERVER NIL NIL NIL NIL SLIDER 21 81 193 114 RobotCount RobotCount 0 30 21 1 1 NIL HORIZONTAL SLIDER 20 127 192 160 MutationStep MutationStep 0 0.1 0.03 0.01 1 NIL HORIZONTAL SLIDER 20 174 192 207 EvolutionPeriod EvolutionPeriod 0 100 50 10 1 NIL HORIZONTAL SLIDER 19 224 191 257 MutationP MutationP 0 100 35 5 1 NIL HORIZONTAL PLOT 697 10 1017 232 Best Fitness vs Gobal Fitness Time Fitness 0.0 10.0 0.0 100.0 true true PENS "BestF" 1.0 0 -2674135 true "GlobalF" 1.0 0 -10899396 true MONITOR 697 249 1018 294 Best Weights: Left to Right --- Right to Left list ([weight12] of max-one-of robots [fitness]) (\"---\") ([weight21] of max-one-of robots [fitness] ) 3 1 11 MONITOR 696 352 1017 397 Recombination Candidates reklist 17 1 11 SWITCH 19 268 191 301 FollowFittest FollowFittest 1 1 -1000 SWITCH 19 315 192 348 FullConnection FullConnection 0 1 -1000 MONITOR 696 300 1018 345 Best Weights: Left to Left --- Right to Right list ([weight11] of max-one-of robots [fitness]) (\"---\") ([weight22] of max-one-of robots [fitness] ) 17 1 11 @#$#@#$#@ WHAT IS IT? ----------- This section could give a general understanding of what the model is trying to show or explain. HOW IT WORKS ------------ This section could explain what rules the agents use to create the overall behavior of the model. HOW TO USE IT ------------- This section could explain how to use the model, including a description of each of the items in the interface tab. THINGS TO NOTICE ---------------- This section could give some ideas of things for the user to notice while running the model. THINGS TO TRY ------------- This section could give some ideas of things for the user to try to do (move sliders, switches, etc.) with the model. EXTENDING THE MODEL ------------------- This section could give some ideas of things to add or change in the procedures tab to make the model more complicated, detailed, accurate, etc. NETLOGO FEATURES ---------------- This section could point out any especially interesting or unusual features of NetLogo that the model makes use of, particularly in the Procedures tab. It might also point out places where workarounds were needed because of missing features. RELATED MODELS -------------- This section could give the names of models in the NetLogo Models Library or elsewhere which are of related interest. CREDITS AND REFERENCES ---------------------- This section could contain a reference to the model's URL on the web if it has one, as well as any other necessary credits or references. @#$#@#$#@ default true 0 Polygon -7500403 true true 150 5 40 250 150 205 260 250 airplane true 0 Polygon -7500403 true true 150 0 135 15 120 60 120 105 15 165 15 195 120 180 135 240 105 270 120 285 150 270 180 285 210 270 165 240 180 180 285 195 285 165 180 105 180 60 165 15 arrow true 0 Polygon -7500403 true true 150 0 0 150 105 150 105 293 195 293 195 150 300 150 box false 0 Polygon -7500403 true true 150 285 285 225 285 75 150 135 Polygon -7500403 true true 150 135 15 75 150 15 285 75 Polygon -7500403 true true 15 75 15 225 150 285 150 135 Line -16777216 false 150 285 150 135 Line -16777216 false 150 135 15 75 Line -16777216 false 150 135 285 75 bug true 0 Circle -7500403 true true 96 182 108 Circle -7500403 true true 110 127 80 Circle -7500403 true true 110 75 80 Line -7500403 true 150 100 80 30 Line -7500403 true 150 100 220 30 butterfly true 0 Polygon -7500403 true true 150 165 209 199 225 225 225 255 195 270 165 255 150 240 Polygon -7500403 true true 150 165 89 198 75 225 75 255 105 270 135 255 150 240 Polygon -7500403 true true 139 148 100 105 55 90 25 90 10 105 10 135 25 180 40 195 85 194 139 163 Polygon -7500403 true true 162 150 200 105 245 90 275 90 290 105 290 135 275 180 260 195 215 195 162 165 Polygon -16777216 true false 150 255 135 225 120 150 135 120 150 105 165 120 180 150 165 225 Circle -16777216 true false 135 90 30 Line -16777216 false 150 105 195 60 Line -16777216 false 150 105 105 60 car false 0 Polygon -7500403 true true 300 180 279 164 261 144 240 135 226 132 213 106 203 84 185 63 159 50 135 50 75 60 0 150 0 165 0 225 300 225 300 180 Circle -16777216 true false 180 180 90 Circle -16777216 true false 30 180 90 Polygon -16777216 true false 162 80 132 78 134 135 209 135 194 105 189 96 180 89 Circle -7500403 true true 47 195 58 Circle -7500403 true true 195 195 58 circle false 0 Circle -7500403 true true 0 0 300 circle 2 false 0 Circle -7500403 true true 0 0 300 Circle -16777216 true false 30 30 240 cow false 0 Polygon -7500403 true true 200 193 197 249 179 249 177 196 166 187 140 189 93 191 78 179 72 211 49 209 48 181 37 149 25 120 25 89 45 72 103 84 179 75 198 76 252 64 272 81 293 103 285 121 255 121 242 118 224 167 Polygon -7500403 true true 73 210 86 251 62 249 48 208 Polygon -7500403 true true 25 114 16 195 9 204 23 213 25 200 39 123 cylinder false 0 Circle -7500403 true true 0 0 300 dot true 0 Circle -7500403 true true 90 90 118 face happy false 0 Circle -7500403 true true 8 8 285 Circle -16777216 true false 60 75 60 Circle -16777216 true false 180 75 60 Polygon -16777216 true false 150 255 90 239 62 213 47 191 67 179 90 203 109 218 150 225 192 218 210 203 227 181 251 194 236 217 212 240 face neutral false 0 Circle -7500403 true true 8 7 285 Circle -16777216 true false 60 75 60 Circle -16777216 true false 180 75 60 Rectangle -16777216 true false 60 195 240 225 face sad false 0 Circle -7500403 true true 8 8 285 Circle -16777216 true false 60 75 60 Circle -16777216 true false 180 75 60 Polygon -16777216 true false 150 168 90 184 62 210 47 232 67 244 90 220 109 205 150 198 192 205 210 220 227 242 251 229 236 206 212 183 fish false 0 Polygon -1 true false 44 131 21 87 15 86 0 120 15 150 0 180 13 214 20 212 45 166 Polygon -1 true false 135 195 119 235 95 218 76 210 46 204 60 165 Polygon -1 true false 75 45 83 77 71 103 86 114 166 78 135 60 Polygon -7500403 true true 30 136 151 77 226 81 280 119 292 146 292 160 287 170 270 195 195 210 151 212 30 166 Circle -16777216 true false 215 106 30 flag false 0 Rectangle -7500403 true true 60 15 75 300 Polygon -7500403 true true 90 150 270 90 90 30 Line -7500403 true 75 135 90 135 Line -7500403 true 75 45 90 45 flower false 0 Polygon -10899396 true false 135 120 165 165 180 210 180 240 150 300 165 300 195 240 195 195 165 135 Circle -7500403 true true 85 132 38 Circle -7500403 true true 130 147 38 Circle -7500403 true true 192 85 38 Circle -7500403 true true 85 40 38 Circle -7500403 true true 177 40 38 Circle -7500403 true true 177 132 38 Circle -7500403 true true 70 85 38 Circle -7500403 true true 130 25 38 Circle -7500403 true true 96 51 108 Circle -16777216 true false 113 68 74 Polygon -10899396 true false 189 233 219 188 249 173 279 188 234 218 Polygon -10899396 true false 180 255 150 210 105 210 75 240 135 240 house false 0 Rectangle -7500403 true true 45 120 255 285 Rectangle -16777216 true false 120 210 180 285 Polygon -7500403 true true 15 120 150 15 285 120 Line -16777216 false 30 120 270 120 lamp false 0 Line -7500403 true 255 255 45 45 Line -7500403 true 150 15 150 285 Line -7500403 true 45 255 255 45 Line -7500403 true 15 150 285 150 Circle -2674135 true false 90 90 120 Circle -7500403 true true 120 120 58 Circle -16777216 true false 105 105 88 Circle -16777216 true false 135 135 28 Circle -13791810 true false 120 120 58 Circle -16777216 true false 135 135 28 leaf false 0 Polygon -7500403 true true 150 210 135 195 120 210 60 210 30 195 60 180 60 165 15 135 30 120 15 105 40 104 45 90 60 90 90 105 105 120 120 120 105 60 120 60 135 30 150 15 165 30 180 60 195 60 180 120 195 120 210 105 240 90 255 90 263 104 285 105 270 120 285 135 240 165 240 180 270 195 240 210 180 210 165 195 Polygon -7500403 true true 135 195 135 240 120 255 105 255 105 285 135 285 165 240 165 195 line true 0 Line -7500403 true 150 0 150 300 line half true 0 Line -7500403 true 150 0 150 150 pentagon false 0 Polygon -7500403 true true 150 15 15 120 60 285 240 285 285 120 person false 0 Circle -7500403 true true 110 5 80 Polygon -7500403 true true 105 90 120 195 90 285 105 300 135 300 150 225 165 300 195 300 210 285 180 195 195 90 Rectangle -7500403 true true 127 79 172 94 Polygon -7500403 true true 195 90 240 150 225 180 165 105 Polygon -7500403 true true 105 90 60 150 75 180 135 105 plant false 0 Rectangle -7500403 true true 135 90 165 300 Polygon -7500403 true true 135 255 90 210 45 195 75 255 135 285 Polygon -7500403 true true 165 255 210 210 255 195 225 255 165 285 Polygon -7500403 true true 135 180 90 135 45 120 75 180 135 210 Polygon -7500403 true true 165 180 165 210 225 180 255 120 210 135 Polygon -7500403 true true 135 105 90 60 45 45 75 105 135 135 Polygon -7500403 true true 165 105 165 135 225 105 255 45 210 60 Polygon -7500403 true true 135 90 120 45 150 15 180 45 165 90 sheep false 0 Rectangle -7500403 true true 151 225 180 285 Rectangle -7500403 true true 47 225 75 285 Rectangle -7500403 true true 15 75 210 225 Circle -7500403 true true 135 75 150 Circle -16777216 true false 165 76 116 square false 0 Rectangle -7500403 true true 30 30 270 270 square 2 false 0 Rectangle -7500403 true true 30 30 270 270 Rectangle -16777216 true false 60 60 240 240 star false 0 Polygon -7500403 true true 151 1 185 108 298 108 207 175 242 282 151 216 59 282 94 175 3 108 116 108 target false 0 Circle -7500403 true true 0 0 300 Circle -16777216 true false 30 30 240 Circle -7500403 true true 60 60 180 Circle -16777216 true false 90 90 120 Circle -7500403 true true 120 120 60 tree false 0 Circle -7500403 true true 118 3 94 Rectangle -6459832 true false 120 195 180 300 Circle -7500403 true true 65 21 108 Circle -7500403 true true 116 41 127 Circle -7500403 true true 45 90 120 Circle -7500403 true true 104 74 152 triangle false 0 Polygon -7500403 true true 150 30 15 255 285 255 triangle 2 false 0 Polygon -7500403 true true 150 30 15 255 285 255 Polygon -16777216 true false 151 99 225 223 75 224 truck false 0 Rectangle -7500403 true true 4 45 195 187 Polygon -7500403 true true 296 193 296 150 259 134 244 104 208 104 207 194 Rectangle -1 true false 195 60 195 105 Polygon -16777216 true false 238 112 252 141 219 141 218 112 Circle -16777216 true false 234 174 42 Rectangle -7500403 true true 181 185 214 194 Circle -16777216 true false 144 174 42 Circle -16777216 true false 24 174 42 Circle -7500403 false true 24 174 42 Circle -7500403 false true 144 174 42 Circle -7500403 false true 234 174 42 turtle true 0 Polygon -10899396 true false 215 204 240 233 246 254 228 266 215 252 193 210 Polygon -10899396 true false 195 90 225 75 245 75 260 89 269 108 261 124 240 105 225 105 210 105 Polygon -10899396 true false 105 90 75 75 55 75 40 89 31 108 39 124 60 105 75 105 90 105 Polygon -10899396 true false 132 85 134 64 107 51 108 17 150 2 192 18 192 52 169 65 172 87 Polygon -10899396 true false 85 204 60 233 54 254 72 266 85 252 107 210 Polygon -7500403 true true 119 75 179 75 209 101 224 135 220 225 175 261 128 261 81 224 74 135 88 99 vehicle true 1 Circle -2674135 true true 90 45 118 Rectangle -2674135 true true 90 105 210 195 Circle -2674135 true true 90 135 118 Rectangle -7500403 true false 60 105 90 195 Rectangle -7500403 true false 210 105 240 195 Line -16777216 false 60 120 90 120 Line -16777216 false 210 150 240 150 Line -16777216 false 210 120 240 120 Line -16777216 false 60 180 90 180 Line -16777216 false 60 150 90 150 Line -16777216 false 210 180 240 180 wheel false 0 Rectangle -7500403 true true 60 105 240 195 Line -16777216 false 75 105 75 195 Line -16777216 false 75 105 75 195 Line -16777216 false 75 105 75 195 Line -16777216 false 75 105 75 195 Line -16777216 false 135 105 135 195 Line -16777216 false 165 105 165 195 Line -16777216 false 105 105 105 195 Line -16777216 false 195 105 195 195 Line -16777216 false 225 105 225 195 x false 0 Polygon -7500403 true true 270 75 225 30 30 225 75 270 Polygon -7500403 true true 30 75 75 30 270 225 225 270 @#$#@#$#@ NetLogo 4.1.1 @#$#@#$#@ @#$#@#$#@ @#$#@#$#@ @#$#@#$#@ @#$#@#$#@ default 0.0 -0.2 0 1.0 0.0 0.0 1 1.0 0.0 0.2 0 1.0 0.0 link direction true 0 Line -7500403 true 150 150 90 180 Line -7500403 true 150 150 210 180 link 0.4 -0.2 0 0.0 1.0 0.0 1 1.0 0.0 0.2 0 0.0 1.0 link direction true 0 Line -7500403 true 150 150 90 180 Line -7500403 true 150 150 210 180 @#$#@#$#@ 0 @#$#@#$#@