Re: [robocup-rescue-s] [Roborescue-developers] kernel speed

Hi all,

> There appears to be a bit of a performance bottleneck in the perception
> code (step 1). Most of the simulators take 50ms or less to do their work
> but the kernel takes much longer to calculate what each agent can see,
> maybe 10-20ms per agent. When there are 100 agents this can take a
> second or more. If any of you have some spare time then feel free to
> investigate this issue :)

             I have almost finished up my work on speeding up this perception
code.I will add this to main trunk in 2 days or so.Now the time taken to
calculate what each agent can see is 1-2 ms for the normal Kobe map.

Yasovardhan
Kshitij
India

>
> It might also be useful to terminate step 2 early once all agents have
> sent a command - the only problem with this is that TELL messages can be
> asynchronous, so we'll have to be careful with how this is implemented.
>
> There is also a timing issue with using TCP for sending messages - if
> you are interested we can discuss this further on the developers mailing
> list.
>
> Cheers,
> Cameron.
>
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