update plotting functions

understanding
Resistance map implementation

agent.py

@@ -5,23 +5,24 @@ This model implements the actual agents on the grid (a.k.a. the ants)
 
 License: AGPL 3 (see end of file)
 (C) Alexander Bocken, Viviane Fahrni, Grace Kagho
+"""
+
+"""
+TO DISCUSS:
+Is the separation of energy and sensitivity useful? -> only if we have the disconnect via resistance
+
 """
 import numpy as np
 import numpy.typing as npt
 from mesa.agent import Agent
 from mesa.space import Coordinate
 
+
 class RandomWalkerAnt(Agent):
-    def __init__(self, unique_id, model, look_for_pheromone=None,
+    def __init__(self, unique_id, model,
-                 energy_0=1,
+                 look_for_pheromone=None,
-                 pheromone_drop_rate_0 : dict[str, float]={"A": 80, "B": 80},
+                 drop_pheromone=None,
-                 sensitivity_0=0.99,
+                 sensitivity_max = 10000,
-                 alpha=0.6, drop_pheromone=None,
-                 betas : dict[str, float]={"A": 0.0512, "B": 0.0512},
-                 sensitivity_decay_rate=0.01,
-                 sensitivity_max = 300,
-                 sensitivity_min = 0.001,
-                 sensitivity_steepness = 1
                  ) -> None:
 
         super().__init__(unique_id=unique_id, model=model)
@@ -29,21 +30,12 @@ class RandomWalkerAnt(Agent):
         self._next_pos : None | Coordinate = None
         self._prev_pos : None | Coordinate = None
 
-        self.look_for_pheromone = look_for_pheromone
+        self.look_for_pheromone : str|None = look_for_pheromone
-        self.drop_pheromone = drop_pheromone
+        self.drop_pheromone : str|None = drop_pheromone
-        self.energy = energy_0 #TODO: use
+        self.energy : float = self.model.e_0
-        self.sensitivity_0 = sensitivity_0
+        self.sensitivity : float = self.model.s_0
-        self.sensitivity = self.sensitivity_0
+        self.pheromone_drop_rate : float = self.model.q_0
-        self.pheromone_drop_rate = pheromone_drop_rate_0
-        self.alpha = alpha
         self.sensitivity_max = sensitivity_max
-        self.sensitivity_min = sensitivity_min
-        self.sensitivity_decay_rate = sensitivity_decay_rate
-        self.sensitivity_steepness = sensitivity_steepness
-        self.betas = betas
-        self.threshold : dict[str, float] = {"A": 0, "B": 0}
-        
-
 
     def sens_adj(self, props, key) -> npt.NDArray[np.float_] | float:
         """
@@ -65,59 +57,70 @@ class RandomWalkerAnt(Agent):
                     |
                    0|________
                     -----------------------> prop
-        For the nonlinear sensitivity, the idea is to use a logistic function that has
-        a characteristic sigmoidal shape that starts from a low value, increases rapidly,
-        and then gradually approaches a saturation level.
-
-        f(x) = L / (1 + exp(-k*(x - x0)))
-
-        f(x) = return value
-        L = sens_max
-        k is a parameter that controls the steepness of the curve. We can start with 1
-        A higher value of k leads to a steeper curve.
-        x0 is the midpoint of the curve, where the sensitivity starts to increase significantly.
-        We can make X0 the threshold value
-
-
         """
         # if props iterable create array, otherwise return single value
         try:
             iter(props)
         except TypeError:
-            #TODO: proper nonlinear response, not just clamping
+            # TODO: proper nonlinear response, not just clamping
-            
+            if props > self.sensitivity_max:
-            non_linear_sens = True
+                return self.sensitivity_max
-            if non_linear_sens:
+            if props > self.model.q_tr:
-                L = self.sensitivity_max
+                return props
-                k = self.sensitivity_steepness
-                mid = self.threshold[key]
-                if props > self.sensitivity_max:
-                    return self.sensitivity_max 
-                
-                #Should we still keep these conditions?
-                # if props > self.threshold[key]:
-                #     return props 
-                else:
-                    adjusted_sensitivity = L / (1 + np.exp(-k * (props - mid)))
-                    print(f'props: {props}, adjusted_value: {adjusted_sensitivity}')
-                    return adjusted_sensitivity
             else:
-                if props > self.sensitivity_max:
+                return 0
-                    return self.sensitivity_max #Should we still keep these conditions
-                if props > self.threshold[key]:
-                    return props 
-                else:
-                    return 0               
-            
 
         arr : list[float] = []
         for prop in props:
             arr.append(self.sens_adj(prop, key))
         return np.array(arr)
 
+    def _get_resistance_weights(self, positions=None):
+            if positions is None:
+                positions = self.neighbors()
+            # bit round-about but self.model.grid.fields['res'][positions]
+            # gets interpreted as slices, not multiple singular positions
+            resistance = np.array([ self.model.grid.fields['res'][x,y] for x,y in positions ])
+            easiness = np.max(self.model.grid.fields['res']) - resistance + np.min(self.model.grid.fields['res']) + 1e-15 # + epsilon to not divide by zero
+            weights = easiness/ np.sum(easiness)
+            #inv_weights = resistance/ np.sum(resistance)
+            #weights = 1 - inv_weights
+            #weights /= np.sum(weights)
+            return weights
+
     def _choose_next_pos(self):
+        def _combine_weights(res_weights, walk_weights):
+            """
+            If we have a resistance -> Infinity we want to have a likelihood -> 0 for this direction
+            Therefore we should multiply our two probabilities.
+            For the case of no resistance field this will return the normal walk_weights
+            res_weights : resistance weights: based on resistance field of neighbours
+                            see _get_resistance_weights for more info
+            walk weights: In case of biased random walk (no positive pheromone gradient):
+                             forward: alpha,
+                             everywhere else: (1- alpaha)/5)
+                          In case of positive pheromone gradient present in front:
+                             max. positive gradient: self.sensitivity
+                             everyhwere else: (1-self.sensitivity)/5
+            """
+            combined = res_weights * walk_weights
+            normalized = combined / np.sum(combined)
+            return normalized
+
+        def _pick_from_remaining_five(remaining_five):
+            """
+            """
+            weights = self._get_resistance_weights(remaining_five)
+            random_index = np.random.choice(range(len(remaining_five)), p=weights)
+            self._next_pos = remaining_five[random_index]
+            self._prev_pos = self.pos
+
         if self._prev_pos is None:
-            i = np.random.choice(range(6))
+            res_weights = self._get_resistance_weights()
+            walk_weights = np.ones(6)
+            weights = _combine_weights(res_weights, walk_weights)
+
+            i = np.random.choice(range(6),p=weights)
             assert(self.pos is not self.neighbors()[i])
             self._next_pos = self.neighbors()[i]
             self._prev_pos = self.pos
@@ -126,80 +129,115 @@ class RandomWalkerAnt(Agent):
         if self.searching_food:
             for neighbor in self.front_neighbors:
                 if self.model.grid.is_food(neighbor):
-                    self.drop_pheromone = "B"
+                    self.model.grid.fields['food'][neighbor] -= 1 # eat
+                    #resets
+                    self.pheromone_drop_rate = self.model.q_0
+                    self.sensitivity = self.model.s_0
+                    self.energy = self.model.e_0
+
+                    #now look for other pheromone
                     self.look_for_pheromone = "A"
-                    self.sensitivity = self.sensitivity_0
+                    self.drop_pheromone = "B"
 
                     self._prev_pos = neighbor
                     self._next_pos = self.pos
+                    return
 
         elif self.searching_nest:
             for neighbor in self.front_neighbors:
                 if self.model.grid.is_nest(neighbor):
-                    self.look_for_pheromone = "A" # Is this a correct interpretation?
+                    #resets
+                    self.pheromone_drop_rate = self.model.q_0
+                    self.sensitivity = self.model.s_0
+                    self.energy = self.model.e_0
+
+                    self.look_for_pheromone = "B"
                     self.drop_pheromone = "A"
-                    self.sensitivity = self.sensitivity_0
 
                     self._prev_pos = neighbor
                     self._next_pos = self.pos
+                    self.model.successful_ants += 1
+
 
                     # recruit new ants
-                    for agent_id in self.model.get_unique_ids(self.model.num_new_recruits):
+                    print("RECRUITING")
-                        if self.model.schedule.get_agent_count() <  self.model.num_max_agents:
+                    for agent_id in self.model.get_unique_ids(self.model.N_r):
+                        if self.model.schedule.get_agent_count() <  self.model.N_m:
                             agent = RandomWalkerAnt(unique_id=agent_id, model=self.model, look_for_pheromone="B", drop_pheromone="A")
                             agent._next_pos = self.pos
                             self.model.schedule.add(agent)
                             self.model.grid.place_agent(agent, pos=neighbor)
+                    return
 
-        # follow positive gradient
+        # follow positive gradient with likelihood self.sensitivity
         if self.look_for_pheromone is not None:
+            # Calculate gradient
             front_concentration = [self.model.grid.fields[self.look_for_pheromone][cell] for cell in self.front_neighbors ]
             front_concentration = self.sens_adj(front_concentration, self.look_for_pheromone)
             current_pos_concentration = self.sens_adj(self.model.grid.fields[self.look_for_pheromone][self.pos], self.look_for_pheromone)
             gradient = front_concentration - np.repeat(current_pos_concentration, 3).astype(np.float_)
-            # TODO: if two or more neighbors have same concentration randomize? Should be unlikely with floats though
+
             index = np.argmax(gradient)
             if gradient[index] > 0:
-                self._next_pos = self.front_neighbors[index]
+                # follow positive gradient with likelihood self.sensitivity * resistance_weight (re-normalized)
+
+                all_neighbors_cells = self.neighbors()
+                highest_gradient_cell = self.front_neighbors[index]
+                highest_gradient_index_arr = np.where(all_neighbors_cells == highest_gradient_cell)
+                assert(len(highest_gradient_index_arr) == 1)
+
+                all_neighbors_index = highest_gradient_index_arr[0]
+                sens_weights = np.ones(6) * (1-self.sensitivity)/5
+                sens_weights[all_neighbors_index] = self.sensitivity
+
+                res_weights = self._get_resistance_weights()
+                weights = _combine_weights(res_weights, sens_weights)
+
+                random_index = np.random.choice(range(6), p=weights)
+                self._next_pos = all_neighbors_cells[random_index]
+
                 self._prev_pos = self.pos
                 return
 
         # do biased random walk
-        p = np.random.uniform()
+        all_neighbors_cells = self.neighbors()
-        if p < self.alpha:
+        front_index_arr = np.where(all_neighbors_cells == self.front_neighbor)
-            self._next_pos = self.front_neighbor
+        assert(len(front_index_arr) == 1 )
-            self._prev_pos = self.pos
+        front_index = front_index_arr[0]
-        else:
-            # need copy() as we would otherwise remove the tuple from all possible lists (aka python "magic")
-            other_neighbors = self.neighbors().copy()
-            other_neighbors.remove(self.front_neighbor)
-            random_index = np.random.choice(range(len(other_neighbors)))
-            self._next_pos = other_neighbors[random_index]
-            self._prev_pos = self.pos
 
+        res_weights = self._get_resistance_weights()
+        walk_weights = np.ones(6) * (1-self.model.alpha) / 5
+        walk_weights[front_index] = self.model.alpha
+
+        weights = _combine_weights(res_weights, walk_weights)
+
+        random_index = np.random.choice(range(6), p=weights)
+        self._next_pos = all_neighbors_cells[random_index]
+        self._prev_pos = self.pos
 
     def step(self):
-        self.sensitivity -= self.sensitivity_decay_rate
+        # Die and get removed if no energy
-        self._choose_next_pos()
+        if self.energy < self.model.e_min:
-        self._adjust_pheromone_drop_rate()
+            self.model.schedule.remove(self)
+            #update list of dead agents for time step
+            self.model.dying_agents += 1
+
+        else:
+            self._choose_next_pos()
+            self._adjust_pheromone_drop_rate()
+
+        self.sensitivity -= self.model.d_s
+        self.energy -= self.model.grid.fields['res'][self.pos] * self.model.d_e
 
-        #kill agent if sensitivity is low
-        if self.sensitivity < self.sensitivity_min: 
-            self._kill_agent()
 
     def _adjust_pheromone_drop_rate(self):
         if(self.drop_pheromone is not None):
-            self.pheromone_drop_rate[self.drop_pheromone] -= self.pheromone_drop_rate[self.drop_pheromone] * self.betas[self.drop_pheromone]
+            self.pheromone_drop_rate -= self.pheromone_drop_rate * self.model.beta
 
     def drop_pheromones(self) -> None:
         # should only be called in advance() as we do not use hidden fields
         if self.drop_pheromone is not None:
-            self.model.grid.fields[self.drop_pheromone][self.pos] += self.pheromone_drop_rate[self.drop_pheromone]
+            self.model.grid.fields[self.drop_pheromone][self.pos] += self.pheromone_drop_rate
-
-    def _kill_agent(self):
-        #update dead_agent list 
-        self.model.dead_agents.append(self)
-
 
     def advance(self) -> None:
         self.drop_pheromones()

hexplot.py

@@ -0,0 +1,37 @@
+#!/bin/python
+import numpy as np
+import matplotlib.pyplot as plt
+
+def plot_hexagon(A, title=None, block=True):
+    X, Y = np.meshgrid(range(A.shape[0]), range(A.shape[-1]))
+    X, Y = X*2, Y*2
+
+    # Turn this into a hexagonal grid
+    for i, k in enumerate(X):
+        if i % 2 == 1:
+            X[i] += 1
+            Y[:,i] += 1
+
+    fig, ax = plt.subplots()
+    fig.set_figwidth(10)
+    fig.set_figheight(10)
+    fig.set_dpi(600)
+    im = ax.hexbin(
+        X.reshape(-1),
+        Y.reshape(-1),
+        C=A.reshape(-1),
+        gridsize=int(A.shape[0]/2)
+    )
+
+    # the rest of the code is adjustable for best output
+    ax.set_aspect(1)
+    ax.set(xlim=(-4, X.max()+4,), ylim=(-4, Y.max()+4))
+    ax.axis(False)
+    ax.set_xmargin(0)
+    ax.set_ymargin(0)
+    #plt.colorbar(im, shrink=0.7)
+
+    if(title is not None):
+        pass
+        #plt.title(title)
+    plt.savefig(f"{title}.png")

main.py

@@ -7,19 +7,12 @@ License: AGPL 3 (see end of file)
 (C) Alexander Bocken, Viviane Fahrni, Grace Kagho
 """
 from model import ActiveWalkerModel
-from agent import RandomWalkerAnt
 import numpy as np
 import matplotlib.pyplot as plt
 from mesa.space import Coordinate
 from mesa.datacollection import DataCollector
 
-from multihex import MultiHexGrid
+#from multihex import MultiHexGrid
-
-def main():
-    check_pheromone_exponential_decay()
-    check_ant_sensitivity_linear_decay()
-    check_ant_pheromone_exponential_decay()
-    check_ants_follow_gradient()
 
 def check_pheromone_exponential_decay():
     """
@@ -107,6 +100,7 @@ def check_ant_pheromone_exponential_decay():
     num_initial_roamers = 1
     num_max_agents = 100
     nest_position : Coordinate = (width //2, height //2)
+    num_food_sources = 0;
     max_steps = 1000
 
     model = ActiveWalkerModel(width=width, height=height,
@@ -178,16 +172,288 @@ def check_ants_follow_gradient():
         print(20*"#")
         model.step()
 
+def viviane_bfs_example_run():
+    # Breadth-first-search algorithm for connectivity
+    def bfs(graph, start_node, threshold): #graph=grid, start_node=nest, threshold=TBD?
+        from collections import deque
+        visited = set()
+        queue = deque([(start_node, [])])
+        paths = {}
+        connected_food_sources = set()
 
-if __name__ == "__main__":
+        while queue:
-    main()
+            current_node, path = queue.popleft()
+            #current_node = tuple(current_node)
+            visited.add(current_node)
+
+            if current_node in graph:
+                for neighbor, m.grid.fields["A"] in graph[current_node].items():
+                    if neighbor not in visited and m.grid.fields["A"] >= threshold:
+                        new_path = path + [neighbor]
+                        queue.append((neighbor, new_path))
+
+                        # Check if the neighbor is a food source
+                        if neighbor in self.grid_food:
+                            if neighbor not in paths:
+                                paths[neighbor] = new_path
+                                connected_food_sources.add(neighbor)
+
+        connectivity = len(connected_food_sources)
+
+        return connectivity
+
+
+    # Calculate connectivity through BFS
+
+    current_paths = bfs(self.grid, self.grid.fields["nests"], 0.000001)
+
+    import numpy as np
+
+    N = 121
+    N_X = int(np.sqrt(N))
+    N_Y = N // N_X
+    # fancy way of saying absolutely nothing but 11
+
+    xv, yv = np.meshgrid(np.arange(N_X), np.arange(N_Y), sparse=False, indexing='xy')
+
+
+    print(f"{N_X=}")
+
+    print(f"{N_Y=}")
+
+    print(f"{(xv, yv)=}")
+
+    print(f"{xv=}")
 
 
 
+def fixed_distance_tests():
+    """
+    position a target food source a known distance away from nest
+    check for no. successful ants for n runs
+    """
+
+    from tqdm import tqdm
+    runs = 10
+    from model import kwargs_paper_setup1 as kwargs
+    kwargs["N_f"] = 0
+    kwargs["gamma"] /= 2 # field decays three times slower
+    kwargs["beta"] /= 2 # drop rates decays three times slower
+    kwargs["d_s"] /= 2 # drop rates decays three times slower
+    kwargs["d_e"] /= 2 # drop rates decays three times slower
+    successful_walkers = {}
+    for distance in tqdm(range(5,30), position=0, desc="dis"):
+        successful_walkers[distance] = []
+        for _ in tqdm(range(runs), position=1, desc="run", leave=False):
+            model = ActiveWalkerModel(**kwargs)
+            nest_location = kwargs["nest_position"]
+            food_location =  (nest_location[0] - distance, nest_location[1])
+            model.grid.add_food(size=100, pos=food_location)
+            for _ in tqdm(range(model.max_steps), position=2, desc="step", leave=False):
+                model.step()
+            successful_walkers[distance].append(model.datacollector.get_model_vars_dataframe().reset_index()["successful_walkers"][kwargs["max_steps"]])
+    return successful_walkers
+
+def fixed_distance_object_between():
+    """
+    diameter of object: floor(50% of distance)
+    """
+
+    from tqdm import tqdm
+    runs = 10
+    from model import kwargs_paper_setup1 as kwargs
+    kwargs["N_f"] = 0
+    kwargs["gamma"] /= 2 # field decays slower
+    kwargs["beta"] /= 2 # drop rates decays slower
+    kwargs["d_e"] /= 2 # live longer, search longer
+    kwargs["d_s"] /= 2 # live longer, search longer
+    successful_walkers = {}
+    for distance in tqdm(range(5,30), position=0, desc="dis"):
+        successful_walkers[distance] = []
+        for _ in tqdm(range(runs), position=1, desc="run", leave=False):
+            model = ActiveWalkerModel(**kwargs)
+            nest_location = kwargs["nest_position"]
+            food_location =  (nest_location[0] - distance, nest_location[1])
+            object_location =  (nest_location[0] - distance//2, nest_location[1])
+            place_blocking_object(object_location, radius=distance//4, model=model)
+            model.grid.add_food(size=100, pos=food_location)
+            for _ in tqdm(range(model.max_steps), position=2, desc="step", leave=False):
+                model.step()
+            successful_walkers[distance].append(model.datacollector.get_model_vars_dataframe().reset_index()["successful_walkers"][kwargs["max_steps"]])
+    return successful_walkers
+
+def place_blocking_object(center, radius, model):
+    positions = [center]
+    next_outside = [center]
+    # We grow from the center and add all neighbours of the outer edge of our blocking object
+    # Add all neighbours of next_outside that aren't in positions to the object
+    # by doing this radius times we should get an object of diameter 2 * radius + 1
+    # positions: accumulator for all positions inside the object of radius radius
+    # next_outside: keep track what we added in the last go-around. These will be used in the next step.
+    for _ in range(radius):
+        outside = next_outside
+        next_oustide = []
+
+        #otherwise interprets the tuple as something stupid
+        for i in range(len(outside)):
+            cell = outside[i]
+            neighbours = model.grid.get_neighborhood(cell)
+            for n in neighbours:
+                if n not in positions:
+                    positions.append(n)
+                    next_outside.append(n)
+
+    # some large number in comparison to the rest of the resistance field
+    # such that the probability of stepping on these grid spots tend towards zero
+    infinity = 1e20
+    for pos in positions:
+        model.grid.fields['res'][pos] = infinity
+
+
+def run_model():
+    from tqdm import tqdm
+    # nests rather far away but also partially clumped.
+    np.random.seed(6)
+
+    from model import kwargs_paper_setup1 as kwargs
+    kwargs["gamma"] /= 2
+    kwargs["beta"] /= 2
+    kwargs["d_e"] /= 5 # live longer, search longer
+    kwargs["d_s"] /= 5 # live longer, search longer
+    kwargs["N_0"] *= 2 # more initial roamers/scouts
+    kwargs["max_steps"] *= 2 # more initial roamers/scouts
+
+    model = ActiveWalkerModel(**kwargs)
+    a = np.zeros_like(model.grid.fields['food'])
+    a[np.nonzero(model.grid.fields['food'])] = 1
+    a[np.nonzero(model.grid.fields['nests'])] = -1
+    for _ in tqdm(range(model.max_steps)):
+        model.step()
+    return model
+
+
+
+from model import kwargs_paper_setup1 as kwargs
+kwargs["gamma"] /= 2
+kwargs["beta"] /= 2
+kwargs["d_e"] /= 5 # live longer, search longer
+kwargs["d_s"] /= 5 # live longer, search longer
+kwargs["N_0"] *= 2 # more initial roamers/scouts
+kwargs["max_steps"] *= 2 # more initial roamers/scouts
+
+def run_model_objects(step, seed=None, title=None):
+    from tqdm import tqdm
+    # nests rather far away but also partially clumped.
+    np.random.seed(6)
+    from hexplot import plot_hexagon
+    model = ActiveWalkerModel(**kwargs)
+    a = np.zeros_like(model.grid.fields['food'])
+    a[np.nonzero(model.grid.fields['food'])] = 1
+    a[np.nonzero(model.grid.fields['nests'])] = -1
+    for current_step in tqdm(range(model.max_steps)):
+        if current_step == step:
+            if seed is not None:
+                np.random.seed(seed)
+            for _ in range(10):
+                coord = np.random.randint(0, 100, size=2)
+                coord = (coord[0], coord[1])
+                place_blocking_object(center=coord,radius=5, model=model)
+            a = model.grid.fields["res"]
+            if title is not None:
+                plot_hexagon(a, title=title)
+        model.step()
+    return model
+
+#if __name__ == "__main__":
+#plot_heatmap()
+#res = run_model_no_objects()
+for i in range(10):
+    res = run_model_objects(step=6000, seed=i+100, title=f"objects/blockings_run_{i}")
+    from plot import plot_alive_ants_vs_time, dead_ants_vs_time, plot_connectivity_vs_time
+    plot_alive_ants_vs_time(res, title=f"objects/run_{i}")
+    dead_ants_vs_time(res, title=f"objects/dead_ants_run_{i}")
+    plot_connectivity_vs_time(res, title=f"objects/conn_run_{i}")
+
+
+#print("DISTANCE TEST VS SUCCESSFUL ANTS OBJECT INBETWEEN")
+#res = fixed_distance_tests()
+#res = fixed_distance_object_between()
+    # print("Test")
+#from model import kwargs_paper_setup1 as kwargs
+#kwargs["resistance_map_type"] = "perlin"
+    # print(kwargs)
+#model = ActiveWalkerModel(**kwargs)
+#model.step()
+
+    # a = np.zeros_like(model.grid.fields['food'])
+    # a[np.nonzero(model.grid.fields['food'])] = 1
+    # plot_hexagon(a, title="Nest locations")
+    # plot_hexagon(model.grid.fields['res'], title="Resistance Map")
+
+
+    # from tqdm import tqdm as progress_bar
+    # for _ in progress_bar(range(model.max_steps)):
+    #     model.step()
+
+
+
+    # Access the DataCollector
+    #datacollector = model.datacollector
+    ## Get the data from the DataCollector
+    #model_data = datacollector.get_model_vars_dataframe()
+    #print(model_data.columns)
+
+    ## Plot the number of alive ants over time
+    #plt.plot(model_data.index, model_data['alive_ants'])
+    #plt.xlabel('Time')
+    #plt.ylabel('Number of Alive Ants') #this should probably be "active" ants, since it is not considering those in the nest
+    #plt.title('Number of Alive Ants Over Time')
+    #plt.grid(True)
+    #plt.show()
+
+    ## Plot the number of sucessful walkers over time
+    #plt.plot(model_data.index, model_data['sucessful_walkers'])
+    #plt.xlabel('Time')
+    #plt.ylabel('Number of Sucessful Walkers')
+    #plt.title('Number of Sucessful Walkers Over Time')
+    #plt.grid(True)
+    #plt.show()
+
+
+    ## Calculate the cumulative sum
+    #model_data['cumulative_sucessful_walkers'] = model_data['sucessful_walkers'].cumsum()
+
+    ## Plot the cumulative sum of sucessful walkers over time
+    #plt.plot(model_data.index, model_data['cumulative_sucessful_walkers'])
+    #plt.xlabel('Time')
+    #plt.ylabel('Cumulative Sucessful Walkers')
+    #plt.title('Cumulative Sucessful Walkers Over Time')
+    #plt.grid(True)
+    #plt.show()
+
+    ## Values over 100 are to be interpreted as walkers being sucessfull several times since the total max number of ants is 100
+
+    # # Connectivity measure
+    #def check_food_source_connectivity(food_sources, paths): #food_sources = nodes.is_nest, paths=result from BFS
+    #    connected_food_sources = set()
+
+    #    for source in food_sources:
+    #        if source in paths:
+    #            connected_food_sources.add(source)
+
+    #    connectivity = len(connected_food_sources)
+
+
+    #    return connectivity
+
+
+    #    # Calculate connectivity through BFS
+
+    #    current_paths = bfs(self.grid, self.grid.fields["nests"], 0.000001)
 """
-This program is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, version 3.
+    This program is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, version 3.
 
-This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details.
+    This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more details.
 
-You should have received a copy of the GNU Affero General Public License along with this program. If not, see <https://www.gnu.org/licenses/>
+    You should have received a copy of the GNU Affero General Public License along with this program. If not, see <https://www.gnu.org/licenses/>
 """

model.py

@@ -16,46 +16,176 @@ from mesa.time import SimultaneousActivation
 from mesa.datacollection import DataCollector
 from agent import RandomWalkerAnt
 
+kwargs_paper_setup1 = {
+        "width": 100,
+        "height": 100,
+        "N_0": 20,
+        "N_m": 100,
+        "N_r": 5,
+        "alpha": 0.6,
+        "gamma": 0.001,
+        "beta": 0.0512,
+        "d_s": 0.001,
+        "d_e": 0.001,
+        "s_0": 0.99,
+        "e_0": 0.99,
+        "q_0": 80,
+        "q_tr": 1,
+        "e_min": 0,
+        "nest_position": (49,49),
+        "N_f": 5,
+        "food_size" : 55,
+        "max_steps": 8000,
+        "resistance_map_type" : None,
+}
+
+kwargs_paper_setup2 = {
+        "width": 100,
+        "height": 100,
+        "N_0": 20,
+        "N_m": 100,
+        "N_r": 5,
+        "alpha": 0.6,
+        "gamma": 0.01,
+        "beta": 0.0512,
+        "d_s": 0.001,
+        "d_e": 0.001,
+        "s_0": 0.99,
+        "e_0": 0.99,
+        "q_0": 80,
+        "q_tr": 1,
+        "e_min": 0,
+        "nest_position": (49,49),
+        "N_f": 5,
+        "food_size" : 550,
+        "max_steps": 8000,
+        "resistance_map_type" : None,
+}
+
+
 class ActiveWalkerModel(Model):
-    def __init__(self, width : int, height : int , num_max_agents : int,
+    def __init__(self, width : int, height : int,
-                 num_initial_roamers : int,
+                 N_0 : int, # number of initial roamers
+                 N_m : int, # max number of ants
+                 N_r : int, # number of new recruits
+                 alpha : float, #biased random walk
+                 beta : float, # decay rate drop rate
+                 gamma : float, # decay rate pheromone concentration fields
+                 d_s : float, # decay rate sensitvity
+                 d_e : float, # decay rate energy
+                 s_0 : float, # sensitvity reset
+                 e_0 : float, # energy reset
+                 q_0 : float,  # initial pheromone level
+                 q_tr : float, # threshold under which ant cannot distinguish concentrations
+                 e_min : float, # energy at which walker dies
                  nest_position : Coordinate,
-                 num_food_sources=5,
+                 N_f=5, #num food sources
-                 food_size=10,
+                 food_size= 55,
                  max_steps:int=1000,
+                 resistance_map_type=None,
                  ) -> None:
         super().__init__()
-        fields=["A", "B", "nests", "food"]
+
+        self.N_m : int       = N_m   # max number of ants
+        self.N_r : int       = N_r   # number of new recruits
+        self.alpha : float   = alpha # biased random walk if no gradient
+        self.gamma : float   = gamma # decay rate pheromone concentration fields
+        self.beta : float    = beta  # decay rate drop rate
+        self.d_s : float     = d_s   # decay rate sensitvity
+        self.d_e : float     = d_e   # decay rate energy (get's multiplied with resistance)
+        self.s_0 : float     = s_0   # sensitvity reset
+        self.e_0 : float     = e_0   # energy reset
+        self.q_0 : float     = q_0   # pheromone drop rate reset
+        self.q_tr : float    = q_tr  # threshold under which ant cannot distinguish concentrations
+        self.e_min : float   = e_min # energy at which walker dies
+        self.N_f : int       = N_f #num food sources
+        self.successful_ants = 0    # for viviane's graph
+        self.connectivity    = 0    # for viviane's persistence
+        self.dying_agents = 0
+
+        fields=["A", "B", "nests", "food", "res"]
         self.schedule = SimultaneousActivation(self)
         self.grid = MultiHexGridScalarFields(width=width, height=height, torus=True, fields=fields)
+
+        if resistance_map_type is None:
+            self.grid.fields["res"] = np.ones((width, height)).astype(float)
+        elif resistance_map_type == "perlin":
+            # perlin generates anisotropic noise which may or may not be a good choice
+            # pip3 install git+https://github.com/pvigier/perlin-numpy
+            from perlin_numpy import (
+                generate_fractal_noise_2d,
+                generate_perlin_noise_2d,
+            )
+            noise = generate_perlin_noise_2d(shape=(width,height), res=((10,10)))
+            # normalized to mean=1, min=0, and max=2
+            normalized_noise = (noise - np.min(noise))/(np.max(noise) - np.min(noise)) * 2
+            self.grid.fields["res"] = normalized_noise
+        else:
+            # possible other noise types: simplex or value
+            raise NotImplemented(f"{resistance_map_type=} is not implemented.")
+
+
         self._unique_id_counter = -1
 
         self.max_steps = max_steps
         self.grid.add_nest(nest_position)
-        self.num_max_agents = num_max_agents
-        self.num_new_recruits = 5
 
-        self.decay_rates : dict[str, float] = {"A" :0.01,
-                                               "B": 0.01,
-                                               }
 
-        self.dead_agents = []
+        for agent_id in self.get_unique_ids(N_0):
-
+            if self.schedule.get_agent_count() < self.N_m:
-        for agent_id in self.get_unique_ids(num_initial_roamers):
-            if self.schedule.get_agent_count() < self.num_max_agents:
                 agent = RandomWalkerAnt(unique_id=agent_id, model=self, look_for_pheromone="A", drop_pheromone="A")
                 self.schedule.add(agent)
                 self.grid.place_agent(agent, pos=nest_position)
 
-        for _ in range(num_food_sources):
+        for _ in range(N_f):
             self.grid.add_food(food_size)
 
         self.datacollector = DataCollector(
-                model_reporters={},
+                # model_reporters={"agent_dens": lambda m: m.agent_density()},
+                model_reporters = {"pheromone_a": lambda m: m.grid.fields["A"],
+                                    "pheromone_b": lambda m: m.grid.fields["B"],
+                                    "alive_ants": lambda m: m.schedule.get_agent_count(),
+                                    "dying_ants": lambda m: m.dying_agents,
+                                    "successful_walkers": lambda m: m.successful_ants,
+                                    "connectivity": lambda m: m.connectivity,
+                                   },
                 agent_reporters={}
                 )
         self.datacollector.collect(self) # keep at end of __init___
 
+    # Breadth-first-search algorithm for connectivity
+    def bfs(self):
+        threshold = 0.5 # half of min sens
+        connectivity = 0 #initial value of connectivity
+        connected_food_sources = [] #empty list of connected food sources
+        visited = [] #empty list of visited (by the algorithm) nodes
+
+        nest = np.argwhere(self.grid.fields["nests"] == 1) #get nest location
+        nest = (nest[0][0], nest[0][1])
+        start_node = nest #rename
+
+        neighbours_to_check = [start_node]  #start node gets checked first
+        neighbours_to_check = neighbours_to_check + self.grid.get_neighborhood(start_node) #start node neighbours get added to the to check list
+
+        while neighbours_to_check: #as long as there is something on the to check list
+            current_node = neighbours_to_check[0] #the first list entry is taken
+            del neighbours_to_check[0] #and deleted on the to check list
+
+            if current_node not in visited: #if it has not previously been checked
+                if np.max([self.grid.fields["B"][current_node], self.grid.fields["A"][current_node]]) >= threshold: #and its A value is above our threshold
+                    new_neighbors = self.grid.get_neighborhood(current_node) #then we get its neighbours
+                    for new_neighbor in new_neighbors:
+                        if new_neighbor not in visited and new_neighbor not in neighbours_to_check:
+                            neighbours_to_check.append(new_neighbor) #then they are also added to our to check list
+                visited.append(current_node) #and the current node has now been checked
+
+                if self.grid.fields["food"][current_node] > 0: #in case the node we check is food
+                    connectivity += 1 #then we have found a connected path to a food source
+                    connected_food_sources = connected_food_sources + list([current_node]) #and it is added to the list of connected food sources
+
+        # why not normalize to 0-1 ?
+        return connectivity #we want the connectivity (0-5)
+
     def agent_density(self):
         a = np.zeros((self.grid.width, self.grid.height))
         for i in range(self.grid.width):
@@ -65,26 +195,23 @@ class ActiveWalkerModel(Model):
 
 
     def step(self):
+        self.dying_agents = 0
         self.schedule.step()        # step() and advance() all agents
 
+        if self.schedule.steps % 100 == 0:
+            pass
+
         # apply decay rate on pheromone levels
         for key in ("A", "B"):
             field = self.grid.fields[key]
-            self.grid.fields[key] =  field - self.decay_rates[key]*field
+            self.grid.fields[key] =  field - self.gamma*field
+
 
         self.datacollector.collect(self)
 
         if self.schedule.steps >= self.max_steps:
             self.running = False
 
-        #remove dead agents
-        for agent in self.dead_agents:
-            self.schedule.remove(agent)
-            self.grid.remove_agent(agent)
-            self.dead_agents.remove(agent)
-        self.dead_agents = []
-        #ToDo what happens when all agents die
-
     def get_unique_id(self) -> int:
         self._unique_id_counter += 1
         return self._unique_id_counter
@@ -93,6 +220,7 @@ class ActiveWalkerModel(Model):
         for _ in range(num_ids):
             yield self.get_unique_id()
 
+
 """
 This program is free software: you can redistribute it and/or modify it under the terms of the GNU Affero General Public License as published by the Free Software Foundation, version 3.
 

multihex.py

@@ -107,7 +107,8 @@ class MultiHexGridScalarFields(MultiHexGrid):
 
     def is_food(self, pos):
         assert('food' in self.fields.keys())
-        return bool(self.fields['food'][pos])
+        # account for potential float imprecision and use epsilon = 1e-3
+        return self.fields['food'][pos] > 1e-3
 
     def add_food(self, size : int , pos=None):
         """
@@ -127,7 +128,7 @@ class MultiHexGridScalarFields(MultiHexGrid):
             while(self.is_nest(pos) or self.is_food(pos)):
                 pos = select_random_place()
 
-        self.fields['food'][pos] = size
+        self.fields['food'][pos] = int(size)
 
     def is_nest(self, pos : Coordinate) -> bool:
         assert('nests' in self.fields.keys())

plot.py

@@ -0,0 +1,71 @@
+#!/bin/python
+
+import matplotlib.pyplot as plt
+import numpy as np
+from hexplot import plot_hexagon
+
+def plot_alive_ants_vs_time(model, title=None):
+    y = model.datacollector.get_model_vars_dataframe()["alive_ants"]
+    plt.figure(figsize=(10,10), dpi=600)
+    plt.plot(y)
+    plt.xlabel("time step")
+    plt.ylabel("alive agents")
+    if title is None:
+        plt.savefig("alive_agents_over_time.eps")
+    else:
+        plt.savefig(f"{title}.png")
+
+
+def plot_connectivity_vs_time(model, title=None):
+    y = model.datacollector.get_model_vars_dataframe()["connectivity"]
+    plt.figure(figsize=(10,10), dpi=600)
+    plt.plot(y)
+    plt.xlabel("time step")
+    plt.ylabel("No. of food sources connected to the nest")
+    if title is None:
+        plt.savefig("connectivity_over_time.eps")
+    else:
+        plt.savefig(f"{title}.png")
+
+
+def dead_ants_vs_time(model, title=None):
+    y = np.cumsum(model.datacollector.get_model_vars_dataframe()["dying_ants"])
+    plt.figure(figsize=(10,10), dpi=600)
+    plt.plot(y)
+    plt.xlabel("time step")
+    plt.ylabel("dead agents")
+    if title is None:
+        plt.savefig("dead_agents_over_time.eps")
+    else:
+        plt.savefig(f"{title}.png")
+
+
+def cum_successful_ants_vs_time(model, title=None):
+    y = model.datacollector.get_model_vars_dataframe()["successful_walkers"]
+    plt.figure(figsize=(10,10), dpi=600)
+    plt.plot(y)
+    plt.xlabel("time step")
+    plt.ylabel("cummulative successful agents")
+    if title is None:
+        plt.savefig("cumsum_successful_agents_over_time.eps")
+    else:
+        plt.savefig(f"{title}.png")
+
+
+def plot_heatmap(model, low=10, high=200):
+    for time in np.arange(0, model.max_steps + 1, 1000):
+        pheromone_concentration = model.datacollector.get_model_vars_dataframe()["pheromone_a"][time]
+        a = pheromone_concentration
+        #plot_hexagon(a)
+        pheromone_concentration = model.datacollector.get_model_vars_dataframe()["pheromone_b"][time]
+        b = pheromone_concentration
+        #plot_hexagon(b)
+        c = np.max([a,b], axis=0)
+        c = a + b
+        c = np.clip(c, 1, 1000000000)
+        c = np.log(c)
+        c = c/np.max(c)
+        food_locations = np.nonzero(model.grid.fields['food'])
+        x_food = [ food[0] for food in food_locations ]
+        y_food = [ food[1] for food in food_locations ]
+        plot_hexagon(c, title=f"cummulative pheromone density at timestep {time}")

server.py

@@ -22,10 +22,12 @@ def setup(params=None):
     # Set the model parameters
     if params is None:
         params = {
+                  "max_steps": 3000,
                   "width": 50, "height": 50,
-                  "num_max_agents" : 100,
+                  "N_m" : 100,
                   "nest_position" : (25,25),
-                  "num_initial_roamers" : 5,
+                  "N_0" : 5,
+                  "resistance_map_type": "perlin",
                   }
 
 
@@ -85,12 +87,9 @@ def setup(params=None):
             "Color":  col,
         }
 
-    def get_max_grid_val(model, key):
+    def portray_resistance_map(model, pos, norm=1):
-        return np.max(model.grid.fields[key])
+        col = get_color(level=model.grid.fields['res'][pos], normalization=norm)
-
+        col = f"rgb({col}, {col}, {col})"
-    def portray_pheromone_density(model, pos, norm):
-        col_a = get_color(level=model.grid.fields["A"][pos], normalization=norm)
-        col_b = get_color(level=model.grid.fields["B"][pos], normalization=norm)
         return {
             "Shape": "hex",
             "r": 1,
@@ -98,7 +97,26 @@ def setup(params=None):
             "Layer": 0,
             "x": pos[0],
             "y": pos[1],
-            "Color": f"rgb({col_a}, {col_b}, 255)"
+            "Color":  col,
+        }
+
+    def get_max_grid_val(model, key):
+        return np.max(model.grid.fields[key])
+
+    def portray_pheromone_density(model, pos, norm):
+        col_a = get_color(level=model.grid.fields["A"][pos], normalization=norm)
+        col_b = get_color(level=model.grid.fields["B"][pos], normalization=norm)
+        res_min, res_max = np.min(model.grid.fields['res']), np.max(model.grid.fields['res'])
+        ease = 1 - model.grid.fields['res'][pos]
+        col_ease = get_color(level=ease, normalization=np.max(model.grid.fields['res']))
+        return {
+            "Shape": "hex",
+            "r": 1,
+            "Filled": "true",
+            "Layer": 0,
+            "x": pos[0],
+            "y": pos[1],
+            "Color": f"rgb({col_a}, {col_b}, {col_ease})"
         }
 
 
@@ -109,6 +127,9 @@ def setup(params=None):
     grid_ants = CanvasHexGridMultiAgents(portray_ant_density,
                                 width, height, width*pixel_ratio, height*pixel_ratio,
                                 norm_method=lambda m: 5)
+    grid_resistance_map = CanvasHexGridMultiAgents(portray_resistance_map,
+                                width, height, width*pixel_ratio, height*pixel_ratio,
+                                norm_method=lambda m: 1)
 
     def norm_ants(model):
         return 5
@@ -127,14 +148,19 @@ def setup(params=None):
                          [lambda m: "<h3>Ant density</h3><h5>Nest: Red, Food: Green</h5>",
                           grid_ants,
                           lambda m: f"<h5>Normalization Value: {norm_ants(m)}</h5>",
-                          lambda m: "<h3>Pheromone Density</h3><h5>Pheromone A: Cyan, Pheromone B: Magenta</h5>",
+                          lambda m: "<h3>Pheromone Density</h3><h5>Pheromone A: Cyan, Pheromone B: Magenta, Resistance Map: Yellow</h5>",
                           grid_pheromones,
-                          lambda m: f"<h5>Normalization Value: {norm_pheromones(m)}</h5>"
+                          lambda m: f"<h5>Normalization Value: {norm_pheromones(m)}</h5>",
                           ],
                            "Active Random Walker Ants", params)
 
 if __name__ == "__main__":
-    server = setup()
+    from model import kwargs_paper_setup1
+    kwargs_paper1_perlin = kwargs_paper_setup1
+    kwargs_paper1_perlin["height"] = 50
+    kwargs_paper1_perlin["width"] = 50
+    kwargs_paper1_perlin["resistance_map_type"] = "perlin"
+    server = setup(params=kwargs_paper1_perlin)
     server.launch()
 
 """