Vitepress docs

docs/.vitepress/config.mts

@@ -51,6 +51,7 @@ export default defineConfig({
                       { text: 'Reward', link: '/Documentation/docsSearch#reward' },
                       { text: 'Termination & Truncation', link: '/Documentation/docsSearch#termination-truncation' },
                       { text: 'Info', link: '/Documentation/docsSearch#info' },
+                      { text: 'Stay Updated', link: '/Documentation/docsSearch#stay-updated' },
                       { text: 'How to Cite This Work', link: '/Documentation/docsSearch#how-to-cite-this-work' },
                       { text: 'License', link: '/Documentation/docsSearch#license' },
                     ]
@@ -68,16 +69,23 @@ export default defineConfig({
                     { text: 'Reward', link: '/Documentation/docsCoverage#reward' },
                     { text: 'Termination & Truncation', link: '/Documentation/docsCoverage#termination-truncation' },
                     { text: 'Info', link: '/Documentation/docsCoverage#info' },
+                    { text: 'Stay Updated', link: '/Documentation/docsCoverage#stay-updated' },
                     { text: 'License', link: '/Documentation/docsCoverage#license' },
                   ]
                 },
-                // {
-                //   collapsed: false,
-                //   text: 'Algorithms',
-                //   items: [
-                //     { text: 'Documentation Under Construction', link: '/Documentation/docsAlgorithms#build' },
-                //   ]
-                // }
+                {
+                  collapsed: false,
+                  text: 'Algorithms',
+                  items: [
+                    { text: 'About', link: '/Documentation/docsAlgorithms#about' },
+                    { text: 'Algorithms Implemented', link: '/Documentation/docsAlgorithms#algorithms-implemented' },
+                    { text: 'Hypotheses', link: '/Documentation/docsAlgorithms#hypotheses' },
+                    { text: 'Appendix A', link: '/Documentation/docsAlgorithms#appendix-a-test-configurations' },
+                    { text: 'How to run', link: '/Documentation/docsAlgorithms#how-to-run' },
+                    { text: 'Stay Updated', link: '/Documentation/docsAlgorithms#stay-updated' },
+                    { text: 'License', link: '/Documentation/docsAlgorithms#license' },
+                  ]
+                }
               ],
               "/QuickStart/": [{
                   collapsed: false,
@@ -92,8 +100,7 @@ export default defineConfig({
                     collapsed: false,
                     text: 'Our Story',
                     items: [
-                      { text: 'Our Story Coming Soon!', link: '/OurStory/ourStory#our-story-coming-soon!' },
-                      { text: 'Stay Updated', link: '/OurStory/ourStory#stay-updated' },
+                      { text: 'The Beginning of Our Story', link: '/OurStory/ourStory#the-beginning-of-our-story' },
                     ]
                 },],
           },

docs/Documentation/docsCoverage.md

@@ -10,23 +10,17 @@ The **Coverage Environment** is our second training environment, building on the
     <em>Fig 1: Representation of the environment in the Coverage Environment.</em>
 </p>
 
-
-<!-- ### Outcome -->
-
-<!-- | If target is found       | If target is not found   |
-:-------------------------:|:-------------------------:
-| ![](https://raw.githubusercontent.com/PFE-Embraer/drone-swarm-search/main/docs/public/pics/victory_render.png)     | ![](https://raw.github.com/PFE-Embraer/drone-swarm-search/main/docs/public/pics/fail_render.png) |
- -->
-
 ## Quick Start
 
 ::: warning Warning
 The DSSE project requires Python version 3.10.5 or higher.
 
-The installation of GDAL (requirement for using opendrift) may need the installation of the following packages
+To install [GDAL](https://gdal.org/) (a requirement for using OpenDrift), you may need to install the following packages:
 ```sh
-sudo apt-get install -y libgdal-dev gdal-bin
+sudo apt install -y libgdal-dev gdal-bin
 ```
+
+For Windows, Microsoft Visual C++ 14.0 or greater is required for building.
 :::
 
 ::: tip Tip
@@ -91,18 +85,23 @@ We incorporated 8 actions in this environment to enable the use of agents traine
 :::
 
 ### Inputs
-| Inputs                          | Possible Values       | Default Values            |
-| -------------                   | -------------         | -------------             |
-| `render_mode`                   | `"ansi" or "human"`   | `"ansi"`                  |
-| `render_grid`                   | `bool`                | `True`                    |
-| `render_gradient`               | `bool`                | `True`                    |
-| `timestep_limit`                | `int`                 | `100`                     |
-| `disaster_position`             | `(float, float)`      | `(-24.04, -46.17)`        |
-| `drone_amount`                  | `int`                 | `1`                       |
-| `drone_speed`                   | `int`                 | `10`                      |
-| `drone_probability_of_detection`| `float`               | `1.0`                     |
-| `pre_render_time`               | `int`                 | `10`                      |
-| `prob_matrix_path`              | `string`              | `None`                    |
+| Inputs                            | Possible Values       | Default Values            |
+| -------------                     | -------------         | -------------             |
+| `render_mode`                     | `"ansi" or "human"`   | `"ansi"`                  |
+| `render_grid`                     | `bool`                | `True`                    |
+| `render_gradient`                 | `bool`                | `True`                    |
+| `timestep_limit`                  | `int`                 | `100`                     |
+| `disaster_position`               | `(float, float)`      | `(-24.04, -46.17)`        |
+| `drone_amount`                    | `int`                 | `1`                       |
+| `drone_speed`                     | `int`                 | `10`                      |
+| `drone_probability_of_detection`  | `float`               | `1.0`                     |
+| `pre_render_time`                 | `int`                 | `10`                      |
+| `prob_matrix_path`                | `string`              | `None`                    |
+| `particle_amount`                 | `int`                 | `50,000`                  |
+| `particle_radius`                 | `int`                 | `800`                     |
+| `num_particle_to_filter_as_noise` | `int`                 | `1`                       |
+| `start_time`                      | `datetime`            | `None`                    |
+| `grid_cell_size`                  | `int`                 | `130`                     |
 
 - **`render_mode`**:
 
@@ -127,6 +126,16 @@ We incorporated 8 actions in this environment to enable the use of agents traine
 
 - **`prob_matrix_path`**: This **string** parameter allows the user to specify the path to file of a already simulated probability matrix. The file should be a `.npy` file containing a probability matrix. If this parameter is not specified, the environment will generate a new probability matrix.
 
+- **`particle_amount`**: This **int** parameter allows the user to customize the number of particles used in the `Lagrangian particle model` used to create the probability matrix.
+
+- **`particle_radius`**: This **int** parameter allows the user to `customize` the radius that the particles are randomly placed at the start of the Lagrangian particle model simulation.
+
+- **`num_particle_to_filter_as_noise`**: This **int** parameter allows the user to modify the number of particles in each cell that are filtered to zero.  (e.g. if the number of value is `1`, cells with only 1 particle in the end of simulation will be filtered to 0).
+
+- **`start_time`**: This **datetime** parameter allows the user to specify the `start time` of the simulation. If not specified, the simulation will start at the current time.
+
+- **`grid_cell_size`**: This **int** parameter allows the user to specify the `size of the grid` cells in meters. The default value is 130 meters.
+
 ## Built in Functions
 
 ### `env.reset`:
@@ -265,19 +274,16 @@ The reward returns a dictionary with the drones names as keys and their respectf
 
 The rewards values goes as follows:
 
-- **`Default Action`**: Every action receives a baseline reward of `0`.
-- **`Leaving the Grid`**: A penalty of `-10` is applied if a drone leaves the grid boundaries.
-- **`Exceeding Time Limit`**: A penalty of `-100` is imposed if the drone does not locate all the cells before the timestep_limit is exceeded.
-- **`Collision`**: If drones collide, each involved drone receives a penalty of `-10`.
-- **`Searching a Cell`**: The reward for searching a cell is proportional to the probability p of the cell being searched, denoted as `10 + (1 / (timestep)) * prob_matrix * 1_000`.
-- **`complete the serching`**: If all cells are searched, the reward is `100`.
+- **`Default Action`**: Every action receives a baseline reward of `-0.2`.
+- **`Searching a Cell`**: The reward for searching a cell is proportional to the probability p of the cell being searched, denoted as `1 + (1 - Ts / Ts_limit) * p * n_cells`, being `n_cells` the number of cells with probability greater than 0, Ts being the terminal timestep and Ts_limit the limit of timesteps.
+- **`Complete the searching`**: If all cells are searched, the reward is `n_cells + n_cells * (1 - Ts / Ts_limit)`.
 
 ### Termination & Truncation
 
 The termination and truncation variables return a dictionary with all drones as keys and boolean as values. By default, these values are set to `False` and will switch to `True` under any of the following conditions:
 
-- **`Collision`**: If two or more drones collide.
 - **`Time Limit Exceeded`**: If the simulation's timestep exceeds the `timestep_limit`.
+- **`Done searching all cells`**: If the agents have searched all cells with probability > 0.
 
 #### For example, the dictionary might look like this:
 
@@ -350,5 +356,9 @@ The `env.save_matrix()` method is not only convenient for saving the probability
 
 `env.close()` will simply close the render window. Not a necessary function but may be used.
 
+## Stay Updated
+
+We appreciate your patience and interest in our work. If you have any questions or need immediate assistance regarding our `Coverage Environment`, please do not hesitate to contact us via our [GitHub Issues page](https://github.com/pfeinsper/drone-swarm-search/issues).
+
 ## License
 This documentation is licensed under the terms of the [MIT License](https://opensource.org/licenses/MIT). See the LICENSE file for more details.

docs/Documentation/docsSearch.md

@@ -74,7 +74,6 @@ while not done:
 
 
 ## General Info
-
 | Import             | `from DSSE import DroneSwarmSearch` |
 | ------------------ | -------------------------------------------------- |
 | Action Space       | Discrete (9)                                      |
@@ -83,7 +82,6 @@ while not done:
 | Observation Space  | `{droneN: ((x, y), probability_matrix)}` |
 
 ### Action Space
-
 | Value | Meaning                |
 | ----- | ---------------------- |
 | 0     | Move Left              |
@@ -100,6 +98,7 @@ while not done:
 | Inputs                    | Possible Values       | Default Values            |
 | -------------             | -------------         | -------------             |
 | `grid_size`               | `int(N)`              | `20`                      |
+| `cell_size`               | `int(N)`              | `130`                     |
 | `render_mode`             | `"ansi" or "human"`   | `"ansi"`                  |
 | `render_grid`             | `bool`                | `False`                   |
 | `render_gradient`         | `bool`                | `True`                    |
@@ -114,7 +113,9 @@ while not done:
 | `probability_of_detection`| `float`               | `1.0`                     |
 | `pre_render_time`         | `int`                 | `0`                       |
 
-- **`grid_size`**: Defines the area in which the search will happen. It should always be an integer greater than one.
+- **`grid_size`**: Integer value that defines the area in which the search will happen. It should always be an integer greater than one.
+
+- **`cell_size`**: Integer value that defines the size of each cell, in meters..
 
 - **`render_mode`**:
 
@@ -274,22 +275,17 @@ An output example can be seen below.
 
 ### Reward
 
-The reward returns a dictionary with the drones names as keys and their respectful rewards as values. For example `{'drone0': 1, 'drone1': 89.0, 'drone2': 1}`
+The reward returns a dictionary with the drones names as keys and their respectful rewards as values. For example `{'drone0': 1.0, 'drone1': 0.0, 'drone2': 1.0}`
 
 The rewards values goes as follows:
 
-- **`Default Action`**: Every action receives a baseline reward of `0.1`.
-- **`Leaving the Grid`**: A penalty of `-200` is applied if a drone leaves the grid boundaries.
-- **`Exceeding Time Limit`**: A penalty of `-200` is imposed if the drone does not locate the person before the timestep_limit is exceeded.
-- **`Collision`**: If drones collide, each involved drone receives a penalty of `-200`.
-- **`Searching a Cell`**: The reward for searching a cell is proportional to the probability p of the cell being searched, denoted as `[0:p]`.
-- **`Finding the Person`**: If a drone successfully locates the person within a cell, the reward is `200 + 200 * ((1 - timestep) / timestep_limit)`, encouraging faster discovery.
+- **`Default Action`**: Every action receives a baseline reward of `0.0`.
+- **`Finding the Person`**: If a drone successfully locates the person within a cell, the reward is `1 + 1 * (1 - timestep / timestep_limit)`, encouraging faster discovery.
 
 ### Termination & Truncation
 
 The termination and truncation variables return a dictionary with all drones as keys and boolean as values. By default, these values are set to `False` and will switch to `True` under any of the following conditions:
 
-- **`Collision`**: If two or more drones collide.
 - **`Time Limit Exceeded`**: If the simulation's timestep exceeds the `timestep_limit`.
 - **`All PIWs Found`**: If all Persons in Water (PIWs) have been successfully located.
 
@@ -345,5 +341,9 @@ If you use this package, please consider citing it with this piece of BibTeX:
 }
 ```
 
+## Stay Updated
+
+We appreciate your patience and interest in our work. If you have any questions or need immediate assistance regarding our `Search Environment`, please do not hesitate to contact us via our [GitHub Issues page](https://github.com/pfeinsper/drone-swarm-search/issues).
+
 ## License
 This documentation is licensed under the terms of the [MIT License](https://opensource.org/licenses/MIT). See the LICENSE file for more details.