Screenshots

A quick look at some of the tools that are currently being developed.

BiGrid Gazebo Visualizer:

Term Builder:

• For defining predefined navigation paths for agents

• See also a related book: Grammatical Picture Generation. in Texts in Theoretical Computer Science. An EATCS Series. Berlin/Heidelberg: Springer-Verlag, 2006. doi: 10.1007/3-540-32507-7. Available: http://link.springer.com/10.1007/3-540-32507-7.

Unfolding of Spatial Computational Structures

• Note that graph structures remain invariant under permutations of their representations.
• However, the orthogonality between the bigraph’s place graph (forest) and link graph (hypergraph) enables specially designed bigraphs to be represented in a 3D setting.

"BiSpace" Visualizer:

• Three.js-based visualizer for "bi-spatial structures" (i.e., topology-aware bigraphs)
• The blue block represents a Crazyflie drone, whose position is fetched via a websocket connection (100Hz)
• The green shape defines a discretized cyber-physical space (the "substrate" of the world model)
• It is equivalent to the spatial computational structure shown in the previous video
• The boundary of the space is the result of setting up a tracking system (the Loco Positioning System in this case)