This file contains installation instructions to set up and run the experiments of the paper "Iterative improvement in the automatic modular design of robot swarms".

The source code, in the included version, has been used to run the experiments.
Links to the hosted repositories will be included for reference.

PREREQUISITES:
The code has been tested under Ubuntu 18.04 and Centos 6.3. 

The following packages need to be installed on the system:
- libfreeimage-dev 
- libfreeimageplus-dev
- qt5-default
- freeglut3-dev
- libxi-dev
- libxmu-dev
- liblua5.2-dev
- lua5.2
- doxygen
- graphviz
- graphviz-dev
- asciidoc

INSTALLATION:
  Execute the following command in a terminal to set the installation path for all the following steps.
    $ export ARGOS3_INSTALLATION_PATH="$HOME/argos3-dist"
  
  ARGoS3 (argos3; available at: https://github.com/ilpincy/argos3, tag:3.0.0-beta48):
    $ cd argos3
	$ mkdir build && cd build
	$ cmake -DCMAKE_INSTALL_PREFIX=$ARGOS3_INSTALLATION_PATH -DCMAKE_BUILD_TYPE=Release -DARGOS_INSTALL_LDSOCONF=OFF -DARGOS_DOCUMENTATION=OFF ../src 
    $ make
	$ make install
	
    Remove the default e-puck plugin:
      $ rm -rf $ARGOS3_INSTALLATION_PATH/include/argos3/plugins/robots/e-puck
	  $ rm -rf $ARGOS3_INSTALLATION_PATH/lib/argos3/lib*epuck*.so

    Add the following lines to the .bashrc file and then source it:
	  export ARGOS3_INSTALLATION_PATH="$HOME/argos3-dist"
	  export PKG_CONFIG_PATH=$ARGOS3_INSTALLATION_PATH/lib/pkgconfig
      export ARGOS_PLUGIN_PATH=$ARGOS3_INSTALLATION_PATH/lib/argos3
      export LD_LIBRARY_PATH=$ARGOS_PLUGIN_PATH:$LD_LIBRARY_PATH
      export PATH=$ARGOS3_INSTALLATION_PATH/bin/:$PATH 
	
  E-Puck Plugin (argos3-epuck; available at: https://github.com/demiurge-project/argos3-epuck, tag: v48)
    $ cd argos3-e-puck
	$ mkdir build && cd build
	$ cmake -DCMAKE_INSTALL_PREFIX=$ARGOS3_INSTALLATION_PATH -DCMAKE_BUILD_TYPE=Release ../src
	$ make
	$ make install
	
  Loopfunctions (AutoMoDe-loopfunctions, available at: https://github.com/demiurge-project/experiments-loop-functions, commit: 4cba49be171773d405d4ec74cba93acb940fc792)
    $ cd AutoMoDe-loopfunctions
	$ mkdir build && cd build
	$ cmake -DCMAKE_INSTALL_PREFIX=$ARGOS3_INSTALLATION_PATH -DCMAKE_BUILD_TYPE=Release .. 
	$ make
	$ make install

  Reference Models (AutoMoDe-DAO, available at: https://github.com/demiurge-project/demiurge-epuck-dao, commit: e24d813b8e34a59d9bb5e2d21e7257e755699517)
    $ cd AutoMoDe-DAO
	$ mkdir build && cd build
	$ cmake -DCMAKE_INSTALL_PREFIX=$ARGOS3_INSTALLATION_PATH -DCMAKE_BUILD_TYPE=Release ..
	$ make
	$ make install
    
  Finite-state machine architecture for AutoMoDe (AutoMoDe-FSM, available at: https://github.com/demiurge-project/AutoMoDe-private, commit: 5b50d10babbe63bfc23729bb6f66ee68dc23d57a)
	$ cd AutoMoDe-FSM
	$ mkdir build $$ cd build
	$ cmake ..
	$ make

  Behavior tree architecture for AutoMoDe (AutoMoDe-BT, available at: https://github.com/demiurge-project/AutoMoDe-private, commit: dd7167cb4838005969afa4fde8c02940c0698fa9)
	$ cd AutoMoDe-BT
	$ mkdir build $$ cd build
	$ cmake ..
	$ make

  Iteraded F-Race (irace_2.2.tar.gz)
    $ mkdir ~/R/x86_64-redhat-linux-gnu-library/3.5/
	$ R CMD INSTALL -l ~/R/x86_64-redhat-linux-gnu-library/3.5/ irace_2.2.tar.gz
	
	Add the following lines to the .bashrc file and then source it:
	  export R_LIBS_USER=~/R/x86_64-redhat-linux-gnu-library/3.5
      export IRACE_HOME=${R_LIBS_USER}/irace
      export PATH=${IRACE_HOME}/bin/:${PATH}
      export R_LIBS=${R_LIBS_USER}:${R_LIBS} 
	
  Iterative improvement for AutoMoDe (AutoMoDe-Localsearch)
    $ cd AutoMoDe-Localsearch
    $ python3 -m venv venv/
	$ source venv/bin/activate
	$ pip install graphviz mpi4py numpy
	
  Genetic Programming for behavior trees (AutoMoDe-GeneticProgramming)
    $ cd AutoMoDe-GeneticProgramming
	$ python3 -m venv venv/
	$ source venv/bin/activate
	$ pip install deap numpy
	
  EvoStick (EvoStick, available at: https://github.com/demiurge-project/NEAT-private, commit: fa3c2382c07a9a9730fa9084ce4ccf07797cb89c)
    $ cd EvoStick
	$ mkdir build && cd build
	$ cmake ..
	$ make