Research Article

# MARS: An Educational Environment for Multiagent Robot Simulations

## Algorithm 2

Matlab code implementing the illustrative example of Section 4.
 1 function [Command,Exp]=Example_random(Exp,Initialization) 2 3 if Initialization 4     Exp.Robots=2; 5     Exp.Workspace=[0 0; 0 10; 10 10; 10 0]; 6     Exp.Animation.Title=’[Random movements]’; 7     Exp.Initial_pose=[1 3 0; 9 7 pi]’; 8     Exp.Animation.Grid=0; 9 10    Exp.Addons=’Map’; 11    V(1).Vertex=[ 5 2; 4 3; 6 4; 5 3]; 12    V(2).Vertex=[ 4 5; 3 7; 2 8; 1 6; 2 5]; 13    V(3).Vertex=[ 6 6; 7 7; 8 6]; 14    V(4).Vertex=[10 0; 10 10]; 15    V(5).Vertex=[ 0 0; 0 10]; 16    V(6).Vertex=[ 0 10; 10 10]; 17    V(7).Vertex=[ 0 0; 10 0]; 18    Exp.Map.Obstacle=V; 19 20     for i=1:Exp.Robots 21         Exp=Add_sensor(Exp,i,’ProximitySensor’); 22         Exp.Agent(i).Sensor(1).Range=0.3; 23     end 24 25     Command=[⁢]; return 26 end 27 28 for i=1:Exp.Robots 29       if Exp.Agent(i).Sensor(1).Presence 30           Command(:,i)=[-0.2; 0]; 31       elseif (Exp.Iteration>1)&&(Exp.History.Command(Exp.Iteration-1,1,i))<0, 32           Command(:,i)=[0; pi/2+rand(1)*pi]; 33       else 34           Command(:,i)=[0.2; 0]; 35       end 36 end

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