Executions

Reproducing Executions

We created this section to present the executions used in our paper and to facilitate their reproduction. To reproduce a specific execution:

1. Open the associated RoASt Configuration Wizard (click the Config badge).
2. Navigate through the pages to inspect the used parameters.
3. On the last page (Summary), click Download Config to get the config.json file.
4. Place this file in the root of your RoASt project directory.
5. Run the project in release mode: cargo run --release or cargo rel
6. You will find the complete execution results in results/Execution_<timestamp>.

Execution Presets

The Configuration Wizard includes 10 pre-configured presets for common scenarios:

Exec1 | Algo1 | Pole | Goals1 | Main

Primary execution of Algorithm 1 with a pole and the standard goal set.

Viewer Classification Duration Valid Algorithms: 5 Config

Exec2 | Algo1 | Pole | Goals2

Variant of Execution 1 with one additional round on the last goal.

Exec1 - Goal 8

Exec2 - Goal 8

Viewer Classification Duration Valid Algorithms: 15 Config

Exec3 | Algo2 | Pole | Goals1 | Main

Primary execution of Algorithm 2 with a pole and the standard goal set.

Viewer Classification Duration Valid Algorithms: 115 Config

Exec4 | Algo2 | Pole | Goals2

Variant of Execution 3 with a reordered version of the goal set.

Viewer Classification Duration Valid Algorithms: 115 Config

Exec5 | Algo2 | Hole | Goals1

Variant of Execution 3 with a hole instead of a pole to test visibility through it.

Viewer Classification Duration Valid Algorithms: 115 Config

Exec6 | Algo2 | Pole | Goals3

Variant of Execution 3 where the 11th goal has a different target position with opposite direction.

Exec3 - Goal 11

Exec6 - Goal 11

Viewer Classification Duration Valid Algorithms: 85 Config

Exec7 | Algo2 | Pole | Goals4

Variant of Execution 3 where the 9th goal's target positions have a one-round shift to the right.

Exec3 - Goal 9

Exec7 - Goal 9

Viewer Classification Duration Valid Algorithms: 475 Config

Exec8 | Algo2 | Pole | Goals5

Variant of Execution 3 combining modifications from Executions 6 and 7: the 11th goal has a different target position with opposite direction (same as Exec 6), and the 9th goal's target positions have a one-round shift to the right (same as Exec 7).

Viewer Classification Duration Valid Algorithms: 181 Config

Exec9 | Algo1 | Pole | BadGoals (Failed Execution)

⚠️ Variant of Execution 1 where the 6th goal's target positions have the leader switching its color from L to R. This generates 5 candidate algorithms, but none of them are valid (they are cyclic).

Candidate Algorithms: 5 Duration Config

Exec10 | Algo1 | Hole | Goals1

Variant of Execution 1 with a hole instead of a pole.

Viewer Classification Duration Valid Algorithms: 5 Config