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https://github.com/ruvnet/RuView
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rUv
8d64434d21
Stage-1 kinematic evaluator per ADR-149 (peer-reviewed). Pure Rust, no new deps. evals/: - gdop.rs: 2D Geometric Dilution of Precision ((HᵀH)⁻¹ trace-sqrt); None for <2 observers or collinear/singular geometry - stats.rs: IQM (Agarwal 2021) + 95% stratified-bootstrap CI (deterministic LCG) + probability_of_improvement - metrics.rs: EpisodeMetrics + AggregateMetrics::from_strata (IQM±CI, seed-stratified) - runner.rs: seeded kinematic rollout (FlightPattern-driven), seed×episode matrix, 3σ×3κ default noise sweep (Gaussian amplitude × von Mises phase) - report.rs + eval_swarm bin: generates evals/RESULTS.md leaderboard RESULTS.md surfaces the real coverage-vs-localization-precision trade-off via GDOP: partitioned wins coverage (100%) but single-drone sightings (GDOP 0 → 7.0m); pheromone gets multistatic fusion (GDOP 1.6 → 4.1m). Wi2SAR 5m paper-baseline row included. Stage-2 (Gazebo/PX4 SITL false-alarm + collision on median seeds) is documented follow-on. Tests: 116 default / 133 full+train (+13 eval tests), 0 failed. Clippy clean (-D warnings).
27 lines
639 B
Rust
27 lines
639 B
Rust
//! Drone swarm control system — ADR-148.
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//!
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//! Hierarchical-mesh topology · Raft consensus · MAPPO MARL · CSI sensing integration
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pub mod types;
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pub mod topology;
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pub mod formation;
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pub mod planning;
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pub mod allocation;
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pub mod sensing;
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pub mod marl;
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pub mod security;
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pub mod failsafe;
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pub mod config;
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pub mod demo;
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pub mod evals;
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pub mod integration;
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pub mod bench_support;
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pub mod orchestrator;
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pub mod ruflo;
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pub use types::{
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ClusterId, CsiDetection, DroneState, FailSafeState, GridCell, NodeId,
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Position3D, SwarmError, SwarmResult, SwarmRole, SwarmTask, TaskId, TaskKind, Velocity3D,
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};
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pub use config::SwarmConfig;
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