Colony

function [x, y, theta, r, phi, state] = motionModel(v,omega,xold,yold,thetaold,dt,state)

[numRobots,z] = size(v);

wheelMax = [4 * pi;4 * pi];

wheelMin = [-4 * pi;-4 * pi];

R = 3.5;

L = 12.75;

noise = 0.5;

transform = [ R/2 R/2; -R/L R/L];

inverseTransform = inv(transform);

%Transforms from v, omega into wheel speed, limits wheel speed and adds noise, then translates back.

for i=2:numRobots,

    wheels = inverseTransform * [v(i); omega(i)];

    wheels = min(wheels, wheelMax) + noise * randn;

	wheels = max(wheels, wheelMin) + noise * randn;

	q = transform * wheels;

	v(i) = q(1);

	omega(i) = q(2);

end

x = zeros(numRobots,1);

y = zeros(numRobots,1);

theta = zeros(numRobots,1);

r = zeros(numRobots,1);

phi = zeros(numRobots,1);

for i=1:numRobots,

    x(i) = xold(i) + cos(thetaold(i))*v(i)*dt;

    y(i) = yold(i) + sin(thetaold(i))*v(i)*dt;

    theta(i) = thetaold(i) + omega(i)*dt;

    r(i) = sqrt((x(i)-x(1))^2 + (y(i)-y(1))^2);

    phi(i) = theta(1) - atan2(y(i)-y(1), x(i)-x(1));

end

end