These are the simulation files and analysis files used for "The Information-Cost-Reward framework for understanding robot swarm foraging".

cpp
===================

Make sure you have ARGoS 3 simulator, version 3.0.0-beta21, installed first.

Run build.sh to compile. See the build.sh script documentation for additional instructions.

The experiment scripts that were used to produce data are .sh files in the cpp folder. See these files for parameter values used.


python
===================

Data analysis code using python 2.7. All images in the paper can be created by using the images_journalPaper.py file.

Note that some metric names in the paper are different than those in the python code:

Code					Paper
--------------------------------------------------------
information speed (i)			information gain rate (i)
misplacement cost (C_M)			displacement cost (C_D)
misplacement cost coefficient (m)	displacement cost coefficient (d)
opportunity cost (C_O)			misinformation cost (C_M)