├── .clang-format ├── .clang-tidy ├── .dir-locals.el ├── .gitignore ├── .gitmodules ├── .readthedocs.yml ├── CMakeLists.txt ├── LICENSE.md ├── README.md ├── cmake ├── config.cmake.in └── project-local.cmake ├── commitlint.config.js ├── docs ├── Doxyfile.in ├── _ext │ └── xref.py ├── conf.py ├── config │ ├── controllers.rst │ ├── index.rst │ └── loop-functions.rst ├── contributing │ ├── index.rst │ └── parser-tutorial.rst ├── example-ss.png ├── index.rst ├── release-notes.md ├── requirements.txt └── setup │ ├── index.rst │ ├── local-runtime.rst │ └── msi.rst ├── exp ├── demo.argos ├── demo.params ├── gazebo_demo.launch ├── testing.argos ├── turtlebot3_demo_master.launch └── turtlebot3_demo_robot.launch ├── frames └── .gitkeep ├── include └── fordyca │ ├── argos │ ├── metrics │ │ ├── base_fs_output_manager.hpp │ │ ├── d0 │ │ │ └── d0_metrics_manager.hpp │ │ ├── d1 │ │ │ └── d1_metrics_manager.hpp │ │ └── d2 │ │ │ └── d2_metrics_manager.hpp │ └── support │ │ ├── argos_swarm_manager.hpp │ │ ├── caches │ │ ├── base_creator.hpp │ │ ├── base_manager.hpp │ │ ├── cached_block_pickup_interactor.hpp │ │ ├── config │ │ │ ├── caches_config.hpp │ │ │ ├── caches_parser.hpp │ │ │ ├── dynamic_cache_config.hpp │ │ │ ├── dynamic_cache_parser.hpp │ │ │ ├── static_cache_config.hpp │ │ │ └── static_cache_parser.hpp │ │ ├── create_ro_params.hpp │ │ ├── creation_verifier.hpp │ │ ├── existing_cache_block_drop_interactor.hpp │ │ └── prox_checker.hpp │ │ ├── config │ │ └── argos_swarm_manager_repository.hpp │ │ ├── d0 │ │ ├── d0_loop_functions.hpp │ │ ├── d0_qt_user_functions.hpp │ │ ├── robot_arena_interactor.hpp │ │ ├── robot_configurer.hpp │ │ ├── robot_configurer_applicator.hpp │ │ └── robot_los_update_applicator.hpp │ │ ├── d1 │ │ ├── d1_loop_functions.hpp │ │ ├── d1_qt_user_functions.hpp │ │ ├── robot_arena_interactor.hpp │ │ ├── robot_configurer.hpp │ │ ├── static_cache_creator.hpp │ │ ├── static_cache_locs_calculator.hpp │ │ └── static_cache_manager.hpp │ │ ├── d2 │ │ ├── cache_center_calculator.hpp │ │ ├── cache_site_block_drop_interactor.hpp │ │ ├── d2_loop_functions.hpp │ │ ├── d2_qt_user_functions.hpp │ │ ├── dynamic_cache_creator.hpp │ │ ├── dynamic_cache_manager.hpp │ │ ├── new_cache_block_drop_interactor.hpp │ │ ├── robot_arena_interactor.hpp │ │ └── robot_configurer.hpp │ │ ├── free_block_pickup_interactor.hpp │ │ ├── mpl │ │ ├── cache_block_drop_spec.hpp │ │ ├── cached_block_pickup_spec.hpp │ │ ├── free_block_pickup_spec.hpp │ │ ├── nest_block_drop_spec.hpp │ │ └── task_abort_spec.hpp │ │ ├── nest_block_drop_interactor.hpp │ │ ├── task_abort_interactor.hpp │ │ └── tv │ │ ├── block_op_filter.hpp │ │ ├── block_op_penalty_handler.hpp │ │ ├── block_op_penalty_id_calculator.hpp │ │ ├── block_op_src.hpp │ │ ├── cache_op_filter.hpp │ │ ├── cache_op_penalty_handler.hpp │ │ ├── cache_op_penalty_id_calculator.hpp │ │ ├── cache_op_src.hpp │ │ ├── config │ │ ├── env_dynamics_config.hpp │ │ ├── env_dynamics_parser.hpp │ │ ├── tv_manager_config.hpp │ │ └── tv_manager_parser.hpp │ │ ├── env_dynamics.hpp │ │ ├── fordyca_pd_adaptor.hpp │ │ ├── op_filter_result.hpp │ │ ├── op_filter_status.hpp │ │ └── tv_manager.hpp │ ├── controller │ ├── cognitive │ │ ├── block_sel_matrix.hpp │ │ ├── block_selector.hpp │ │ ├── cache_sel_exception.hpp │ │ ├── cache_sel_matrix.hpp │ │ ├── cognitive_controller.hpp │ │ ├── d0 │ │ │ ├── dpo_controller.hpp │ │ │ ├── events │ │ │ │ ├── block_vanished.hpp │ │ │ │ ├── free_block_pickup.hpp │ │ │ │ └── nest_block_drop.hpp │ │ │ ├── mdpo_controller.hpp │ │ │ ├── odpo_controller.hpp │ │ │ └── omdpo_controller.hpp │ │ ├── d1 │ │ │ ├── bitd_dpo_controller.hpp │ │ │ ├── bitd_mdpo_controller.hpp │ │ │ ├── bitd_odpo_controller.hpp │ │ │ ├── bitd_omdpo_controller.hpp │ │ │ ├── events │ │ │ │ ├── block_vanished.hpp │ │ │ │ ├── cache_block_drop.hpp │ │ │ │ ├── cache_found.hpp │ │ │ │ ├── cache_vanished.hpp │ │ │ │ ├── cached_block_pickup.hpp │ │ │ │ ├── free_block_drop.hpp │ │ │ │ ├── free_block_pickup.hpp │ │ │ │ └── nest_block_drop.hpp │ │ │ └── task_executive_builder.hpp │ │ ├── d2 │ │ │ ├── birtd_dpo_controller.hpp │ │ │ ├── birtd_mdpo_controller.hpp │ │ │ ├── birtd_odpo_controller.hpp │ │ │ ├── birtd_omdpo_controller.hpp │ │ │ ├── events │ │ │ │ ├── block_found.hpp │ │ │ │ ├── block_proximity.hpp │ │ │ │ ├── block_vanished.hpp │ │ │ │ ├── cache_block_drop.hpp │ │ │ │ ├── cache_found.hpp │ │ │ │ ├── cache_proximity.hpp │ │ │ │ ├── cache_vanished.hpp │ │ │ │ ├── cached_block_pickup.hpp │ │ │ │ ├── free_block_drop.hpp │ │ │ │ ├── free_block_pickup.hpp │ │ │ │ └── nest_block_drop.hpp │ │ │ ├── new_cache_selector.hpp │ │ │ └── task_executive_builder.hpp │ │ ├── events_fwd.hpp │ │ └── utils.hpp │ ├── config │ │ ├── block_sel │ │ │ ├── block_pickup_policy_config.hpp │ │ │ ├── block_pickup_policy_parser.hpp │ │ │ ├── block_priorities_parser.hpp │ │ │ ├── block_priority_config.hpp │ │ │ ├── block_sel_matrix_config.hpp │ │ │ └── block_sel_matrix_parser.hpp │ │ ├── cache_sel │ │ │ ├── cache_pickup_policy_config.hpp │ │ │ ├── cache_pickup_policy_parser.hpp │ │ │ ├── cache_sel_matrix_config.hpp │ │ │ └── cache_sel_matrix_parser.hpp │ │ ├── cognitive_controller_repository.hpp │ │ ├── d0 │ │ │ ├── crw_controller_repository.hpp │ │ │ ├── dpo_controller_repository.hpp │ │ │ └── mdpo_controller_repository.hpp │ │ ├── d1 │ │ │ └── controller_repository.hpp │ │ ├── d2 │ │ │ └── controller_repository.hpp │ │ └── foraging_controller_repository.hpp │ ├── controller_fwd.hpp │ ├── foraging_controller.hpp │ └── reactive │ │ ├── d0 │ │ ├── crw_controller.hpp │ │ └── events │ │ │ ├── block_vanished.hpp │ │ │ ├── free_block_pickup.hpp │ │ │ └── nest_block_drop.hpp │ │ └── events_fwd.hpp │ ├── ds │ └── block_alloc_map.hpp │ ├── events │ ├── block_pickup_base_visit_set.hpp │ ├── cell2D_empty.hpp │ ├── cell2D_unknown.hpp │ ├── dynamic_cache_interactor.hpp │ ├── existing_cache_interactor.hpp │ ├── free_block_interactor.hpp │ ├── free_block_interactor_processor.hpp │ └── nest_interactor.hpp │ ├── fordyca.hpp │ ├── fsm │ ├── acquire_existing_cache_fsm.hpp │ ├── acquire_free_block_fsm.hpp │ ├── arrival_tol.hpp │ ├── block_acq_validator.hpp │ ├── block_to_goal_fsm.hpp │ ├── block_transporter.hpp │ ├── cache_acq_point_selector.hpp │ ├── cache_acq_validator.hpp │ ├── d0 │ │ ├── crw_fsm.hpp │ │ ├── dpo_fsm.hpp │ │ └── free_block_to_nest_fsm.hpp │ ├── d1 │ │ ├── block_to_existing_cache_fsm.hpp │ │ └── cached_block_to_nest_fsm.hpp │ ├── d2 │ │ ├── acquire_cache_site_fsm.hpp │ │ ├── acquire_new_cache_fsm.hpp │ │ ├── block_to_cache_site_fsm.hpp │ │ ├── block_to_new_cache_fsm.hpp │ │ ├── cache_site_selector.hpp │ │ └── cache_transferer_fsm.hpp │ ├── existing_cache_selector.hpp │ ├── foraging_acq_goal.hpp │ ├── foraging_signal.hpp │ ├── foraging_transport_goal.hpp │ ├── fsm_fwd.hpp │ └── fsm_ro_params.hpp │ ├── init │ └── init.hpp │ ├── math │ ├── block_utility.hpp │ ├── cache_respawn_probability.hpp │ ├── cache_site_utility.hpp │ ├── existing_cache_utility.hpp │ └── new_cache_utility.hpp │ ├── metrics │ ├── blocks │ │ ├── block_manip_events.hpp │ │ ├── manipulation_metrics_collector.hpp │ │ ├── manipulation_metrics_csv_sink.hpp │ │ └── manipulation_metrics_data.hpp │ ├── caches │ │ ├── lifecycle_metrics.hpp │ │ ├── lifecycle_metrics_collector.hpp │ │ ├── lifecycle_metrics_csv_sink.hpp │ │ ├── lifecycle_metrics_data.hpp │ │ ├── site_selection_metrics.hpp │ │ ├── site_selection_metrics_collector.hpp │ │ ├── site_selection_metrics_csv_sink.hpp │ │ └── site_selection_metrics_data.hpp │ ├── perception │ │ ├── dpo_metrics.hpp │ │ ├── dpo_metrics_collector.hpp │ │ ├── dpo_metrics_csv_sink.hpp │ │ ├── dpo_metrics_data.hpp │ │ ├── mdpo_metrics.hpp │ │ ├── mdpo_metrics_collector.hpp │ │ ├── mdpo_metrics_csv_sink.hpp │ │ └── mdpo_metrics_data.hpp │ ├── specs.hpp │ └── tv │ │ ├── env_dynamics_metrics.hpp │ │ ├── env_dynamics_metrics_collector.hpp │ │ ├── env_dynamics_metrics_csv_sink.hpp │ │ └── env_dynamics_metrics_data.hpp │ ├── repr │ ├── diagnostics.hpp │ ├── dpo_entity.hpp │ └── forager_los.hpp │ ├── ros │ ├── metrics │ │ ├── blocks │ │ │ ├── manipulation_metrics_glue.hpp │ │ │ ├── manipulation_metrics_msg.hpp │ │ │ └── manipulation_metrics_topic_sink.hpp │ │ ├── d0 │ │ │ ├── d0_robot_metrics_manager.hpp │ │ │ └── d0_swarm_metrics_manager.hpp │ │ └── registrable.hpp │ └── support │ │ ├── d0 │ │ ├── d0_robot_manager.hpp │ │ ├── d0_swarm_manager.hpp │ │ └── robot_arena_interactor.hpp │ │ ├── free_block_pickup_interactor.hpp │ │ ├── mpl │ │ ├── free_block_pickup_spec.hpp │ │ └── nest_block_drop_spec.hpp │ │ ├── nest_block_drop_interactor.hpp │ │ ├── robot_manager.hpp │ │ └── swarm_manager.hpp │ ├── strategy │ ├── config │ │ ├── blocks_config.hpp │ │ ├── blocks_parser.hpp │ │ ├── caches_config.hpp │ │ ├── caches_parser.hpp │ │ ├── nest_config.hpp │ │ ├── nest_parser.hpp │ │ ├── strategy_config.hpp │ │ └── strategy_parser.hpp │ ├── explore │ │ ├── block_factory.hpp │ │ ├── cache_factory.hpp │ │ ├── crw_adaptor.hpp │ │ ├── ledtaxis.hpp │ │ ├── ledtaxis_cache_search.hpp │ │ ├── likelihood_block_search.hpp │ │ ├── likelihood_cache_search.hpp │ │ ├── localized_search.hpp │ │ └── utility_cache_search.hpp │ ├── foraging_strategy.hpp │ └── strategy_params.hpp │ ├── subsystem │ └── perception │ │ ├── config │ │ ├── dpo_config.hpp │ │ ├── dpo_parser.hpp │ │ ├── mdpo_config.hpp │ │ ├── mdpo_parser.hpp │ │ ├── perception_config.hpp │ │ └── perception_parser.hpp │ │ ├── dpo_perception_subsystem.hpp │ │ ├── ds │ │ ├── dp_block_map.hpp │ │ ├── dp_cache_map.hpp │ │ ├── dpo_map.hpp │ │ ├── dpo_semantic_map.hpp │ │ ├── dpo_store.hpp │ │ └── occupancy_grid.hpp │ │ ├── events │ │ ├── block_found.hpp │ │ └── cache_found.hpp │ │ ├── foraging_memory_model.hpp │ │ ├── foraging_perception_subsystem.hpp │ │ ├── known_objects_accessor.hpp │ │ ├── los_proc_verify.hpp │ │ ├── mdpo_perception_subsystem.hpp │ │ ├── model_update_result.hpp │ │ ├── model_update_status.hpp │ │ ├── oracular_info_receptor.hpp │ │ ├── perception_fwd.hpp │ │ ├── perception_subsystem_factory.hpp │ │ └── tracked_objects_accessor.hpp │ ├── support │ ├── base_swarm_manager.hpp │ ├── interactor_status.hpp │ └── mpl │ │ └── free_block_drop_spec.hpp │ ├── tasks │ ├── argument.hpp │ ├── base_foraging_task.hpp │ ├── d0 │ │ ├── foraging_task.hpp │ │ └── generalist.hpp │ ├── d1 │ │ ├── collector.hpp │ │ ├── foraging_task.hpp │ │ └── harvester.hpp │ ├── d2 │ │ ├── cache_collector.hpp │ │ ├── cache_finisher.hpp │ │ ├── cache_starter.hpp │ │ ├── cache_transferer.hpp │ │ └── foraging_task.hpp │ ├── task_status.hpp │ └── tasks_fwd.hpp │ └── version.hpp ├── log4cxx.xml ├── package.json ├── scripts ├── msi-deps-build.sh └── msi-env-setup.sh ├── src ├── argos │ ├── metrics │ │ ├── base_fs_output_manager.cpp │ │ ├── d0 │ │ │ └── d0_metrics_manager.cpp │ │ ├── d1 │ │ │ └── d1_metrics_manager.cpp │ │ └── d2 │ │ │ └── d2_metrics_manager.cpp │ └── support │ │ ├── argos_swarm_manager.cpp │ │ ├── caches │ │ ├── base_creator.cpp │ │ ├── base_manager.cpp │ │ ├── config │ │ │ └── caches_parser.cpp │ │ ├── creation_verifier.cpp │ │ ├── dynamic_cache_parser.cpp │ │ └── static_cache_parser.cpp │ │ ├── config │ │ └── argos_swarm_manager_repository.cpp │ │ ├── d0 │ │ ├── d0_loop_functions.cpp │ │ └── d0_qt_user_functions.cpp │ │ ├── d1 │ │ ├── d1_loop_functions.cpp │ │ ├── d1_qt_user_functions.cpp │ │ ├── static_cache_creator.cpp │ │ ├── static_cache_locs_calculator.cpp │ │ └── static_cache_manager.cpp │ │ ├── d2 │ │ ├── cache_center_calculator.cpp │ │ ├── d2_loop_functions.cpp │ │ ├── d2_qt_user_functions.cpp │ │ ├── dynamic_cache_creator.cpp │ │ └── dynamic_cache_manager.cpp │ │ └── tv │ │ ├── block_op_penalty_id_calculator.cpp │ │ ├── cache_op_penalty_id_calculator.cpp │ │ ├── config │ │ ├── env_dynamics_parser.cpp │ │ └── tv_manager_parser.cpp │ │ ├── env_dynamics.cpp │ │ └── fordyca_pd_adaptor.cpp ├── controller │ ├── cognitive │ │ ├── block_sel_matrix.cpp │ │ ├── block_selector.cpp │ │ ├── cache_sel_matrix.cpp │ │ ├── cognitive_controller.cpp │ │ ├── d0 │ │ │ ├── dpo_controller.cpp │ │ │ ├── events │ │ │ │ ├── block_vanished.cpp │ │ │ │ ├── free_block_pickup.cpp │ │ │ │ └── nest_block_drop.cpp │ │ │ ├── mdpo_controller.cpp │ │ │ ├── odpo_controller.cpp │ │ │ └── omdpo_controller.cpp │ │ ├── d1 │ │ │ ├── bitd_dpo_controller.cpp │ │ │ ├── bitd_mdpo_controller.cpp │ │ │ ├── bitd_odpo_controller.cpp │ │ │ ├── bitd_omdpo_controller.cpp │ │ │ ├── events │ │ │ │ ├── block_vanished.cpp │ │ │ │ ├── cache_block_drop.cpp │ │ │ │ ├── cache_found.cpp │ │ │ │ ├── cache_vanished.cpp │ │ │ │ ├── cached_block_pickup.cpp │ │ │ │ ├── free_block_drop.cpp │ │ │ │ ├── free_block_pickup.cpp │ │ │ │ └── nest_block_drop.cpp │ │ │ └── task_executive_builder.cpp │ │ └── d2 │ │ │ ├── birtd_dpo_controller.cpp │ │ │ ├── birtd_mdpo_controller.cpp │ │ │ ├── birtd_odpo_controller.cpp │ │ │ ├── birtd_omdpo_controller.cpp │ │ │ ├── events │ │ │ ├── block_found.cpp │ │ │ ├── block_proximity.cpp │ │ │ ├── block_vanished.cpp │ │ │ ├── cache_block_drop.cpp │ │ │ ├── cache_found.cpp │ │ │ ├── cache_proximity.cpp │ │ │ ├── cache_vanished.cpp │ │ │ ├── cached_block_pickup.cpp │ │ │ ├── free_block_drop.cpp │ │ │ ├── free_block_pickup.cpp │ │ │ └── nest_block_drop.cpp │ │ │ ├── new_cache_selector.cpp │ │ │ └── task_executive_builder.cpp │ ├── config │ │ ├── block_sel │ │ │ ├── block_pickup_policy_parser.cpp │ │ │ ├── block_priorities_parser.cpp │ │ │ └── block_sel_matrix_parser.cpp │ │ ├── cache_sel │ │ │ ├── cache_pickup_policy_parser.cpp │ │ │ └── cache_sel_matrix_parser.cpp │ │ ├── cognitive_controller_repository.cpp │ │ ├── d0 │ │ │ └── dpo_controller_repository.cpp │ │ ├── d1 │ │ │ └── controller_repository.cpp │ │ ├── d2 │ │ │ └── controller_repository.cpp │ │ └── foraging_controller_repository.cpp │ ├── foraging_controller.cpp │ └── reactive │ │ └── d0 │ │ ├── crw_controller.cpp │ │ └── events │ │ ├── block_vanished.cpp │ │ ├── free_block_pickup.cpp │ │ └── nest_block_drop.cpp ├── events │ ├── cell2D_empty.cpp │ └── cell2D_unknown.cpp ├── fsm │ ├── acquire_existing_cache_fsm.cpp │ ├── acquire_free_block_fsm.cpp │ ├── block_acq_validator.cpp │ ├── block_to_goal_fsm.cpp │ ├── cache_acq_point_selector.cpp │ ├── cache_acq_validator.cpp │ ├── d0 │ │ ├── crw_fsm.cpp │ │ ├── dpo_fsm.cpp │ │ └── free_block_to_nest_fsm.cpp │ ├── d1 │ │ ├── block_to_existing_cache_fsm.cpp │ │ └── cached_block_to_nest_fsm.cpp │ ├── d2 │ │ ├── acquire_cache_site_fsm.cpp │ │ ├── acquire_new_cache_fsm.cpp │ │ ├── block_to_cache_site_fsm.cpp │ │ ├── block_to_new_cache_fsm.cpp │ │ ├── cache_site_selector.cpp │ │ └── cache_transferer_fsm.cpp │ ├── existing_cache_selector.cpp │ └── foraging_acq_goal.cpp ├── init │ └── init.cpp ├── math │ ├── block_utility.cpp │ ├── cache_respawn_probability.cpp │ ├── cache_site_utility.cpp │ └── existing_cache_utility.cpp ├── metrics │ ├── blocks │ │ ├── manipulation_metrics_collector.cpp │ │ └── manipulation_metrics_csv_sink.cpp │ ├── caches │ │ ├── lifecycle_metrics_collector.cpp │ │ ├── lifecycle_metrics_csv_sink.cpp │ │ ├── site_selection_metrics_collector.cpp │ │ └── site_selection_metrics_csv_sink.cpp │ ├── perception │ │ ├── dpo_metrics_collector.cpp │ │ ├── dpo_metrics_csv_sink.cpp │ │ ├── mdpo_metrics_collector.cpp │ │ └── mdpo_metrics_csv_sink.cpp │ ├── specs.cpp │ └── tv │ │ ├── env_dynamics_metrics_collector.cpp │ │ └── env_dynamics_metrics_csv_sink.cpp ├── repr │ ├── diagnostics.cpp │ └── forager_los.cpp ├── ros │ ├── metrics │ │ ├── d0 │ │ │ ├── d0_robot_metrics_manager.cpp │ │ │ └── d0_swarm_metrics_manager.cpp │ │ └── registrable.cpp │ └── support │ │ ├── d0 │ │ ├── d0_robot_manager.cpp │ │ └── d0_swarm_manager.cpp │ │ ├── robot_manager.cpp │ │ └── swarm_manager.cpp ├── strategy │ ├── config │ │ ├── blocks_parser.cpp │ │ ├── caches_parser.cpp │ │ ├── nest_parser.cpp │ │ └── strategy_parser.cpp │ └── explore │ │ ├── block_factory.cpp │ │ ├── cache_factory.cpp │ │ ├── crw_adaptor.cpp │ │ ├── ledtaxis.cpp │ │ ├── ledtaxis_cache_search.cpp │ │ ├── likelihood_block_search.cpp │ │ ├── likelihood_cache_search.cpp │ │ ├── localized_search.cpp │ │ └── utility_cache_search.cpp ├── subsystem │ └── perception │ │ ├── config │ │ ├── dpo_parser.cpp │ │ ├── mdpo_parser.cpp │ │ └── perception_parser.cpp │ │ ├── dpo_perception_subsystem.cpp │ │ ├── ds │ │ ├── dp_block_map.cpp │ │ ├── dp_cache_map.cpp │ │ ├── dpo_semantic_map.cpp │ │ ├── dpo_store.cpp │ │ └── occupancy_grid.cpp │ │ ├── events │ │ ├── block_found.cpp │ │ └── cache_found.cpp │ │ ├── los_proc_verify.cpp │ │ ├── mdpo_perception_subsystem.cpp │ │ ├── oracular_info_receptor.cpp │ │ └── perception_subsystem_factory.cpp ├── tasks │ ├── d0 │ │ ├── foraging_task.cpp │ │ └── generalist.cpp │ ├── d1 │ │ ├── collector.cpp │ │ ├── foraging_task.cpp │ │ └── harvester.cpp │ └── d2 │ │ ├── cache_finisher.cpp │ │ ├── cache_starter.cpp │ │ ├── cache_transferer.cpp │ │ └── foraging_task.cpp └── version.cpp.in └── tests ├── arena_map-test.cpp ├── block_distributor-test.cpp ├── cell2D-test.cpp ├── line_of_sight-test.cpp └── 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