Individual Assignment 2
Design a simple "foraging" robot in subsumption or schema-based
style: the robots should wander around without bumping into things
(i.e., avoiding obstacles) until it finds "food" (as indicated by the
orange soccer ball). The goal then is to get to the food item and
touch it. The success of your architecture will be measured in terms
of the time it takes the robot to find food and get to it.
Details
This assignment will be carried out on the robot (not in the
simulation), though a simulator may be used for testing. For this
and all future projects, we will use the
Pioneer agent. In addition, we will use the camera for this
assignment. This, in turn, requires you to use the Framegrabber
server (which is another AgeS server that handles images
retrieval from the framegrabber) in addition to the Pioneer
server. For more details, please consult the notes on
AgeS and the actual files on robot (in /usr/local/cse498f/)
for details about AgeS.
As part of this assignment, answer the following questions in a comment section
at the beginning of your answer files:
-
What kinds of behaviors did you need? List all behaviors with a short functional description of
what the behavior is supposed to achieve
-
What is the dependence of the behaviors among each other? Briefly describe how this collection of
behaviors is supposed to achieve the task.
- Draw an architecture diagrams for the architecture with
boxes indicating behaviors and arrows between boxes indicating
information flow and dependence. In particular, for the
subsumption-based solution, indicate the layers clearly and use arrows
for the I, R, and S links as well as message passing links. For the
schema-based architecture, draw a "type diagram" of perceptual and
motor schemes, similar to the one in Arkin's book, and indicate
triggering conditions of schemas.
Please submit your code (in files "Subsumption.java" or "Schema.java"
by February 25 in your dropbox in the course directory:
/usr/local/courses/cse/cse498f.01/dropbox