2. Team Members: Dave Rudolph - Lead Web Designer Lead Programmer Samara Secor - Lead Analyst Documentation Specialist

3. Project Advisors: Dr. Jerry Weinberg - CS Department Dr. Engel - EE Department EE Dept. Members: Jason Range Dan McGibney CE Dept. Members: Andy Penrod Achu Pradhan

4. This year is the second year of this competition. The objective is to build a robot which will compete in the following challenge: Qualification Round: The robot must navigate through a maze in less that 20 minutes. Competition Round: The robot must navigate and map a maze and then race through the maze as quickly as possible.

5. Robbie must find it’s way from entrance to exit within 20 minutes. Robbie must remember the path to get through the maze. Robbie must then run the race again using his memory and get to the exit as fast as possible.

6. Must fit between walls 8 inches apart. Must be no taller that 12”. May not mark the track in any way. May not be connected to any external devices.

8. Agent – Anything that can be viewed as perceiving an environment through sensors and acting upon that environment through effectors. Rational Agent – One that does the right thing. How do you evaluate success? When do you evaluate success? effectors environment percepts actions agent ? sensors

9. Inaccessible: an agent can only perceive near-by stimuli and has limited attention Non-deterministic: the real world has a lot of uncertainty Dynamic: the environment is changing while the robot is reasoning and acting

10. PAGE descriptions – List the agent type, its percepts, actions, goals, and environment. Agent TypePerceptsActionsGoalsEnvironment Maze Racer Differences in light, touch, rotation clicks Turn right or left, drive straight, internal u-turn, mapping of maze, following Of map Get through maze, be the fastest, map maze & successfully follow map Maze containing directional choices of 2 (no more, no less)

11. Finite State Machine

13. Assess Environment Partition into Situations Create Situational Responses Import Behaviors to Robot Run Robotic Experiments Evaluate Results Enahance, Expand, Correct Behavioral Responses Done

14. Subsumption Architecture Also known as reactive planning. It can be implemented with either a table or set of condition-action rules. It is hierarchical in nature. The default behavior can be overridden by behaviors that have higher priority (those that would score more ‘points’ or bring it closer to the goal state).

15. Subsumption Architecture

16. int map() { //multiple threads openLeft(); openRight(); deadEnd(); arbitrate(); return; } int openLeft() { while(1) { if (opening on left) { Turn Left; Store 0 in map; } return; }

17. int openRight() { while(1) { if (open on right) { store 0 in map; } return; } int deadEnd() { while(1) { if (deadEnd) { Virtual U-turn; Replace 0 w/ 1; !map next turn; turn left next; } return; }

18. Platforms: The Lego Mindstorms RCX + Simplistic - Limited Sensors and Motors Handy Board + More Sensors and Motors - Difficult to Program

19. LEGO Mindstorm RCX 3 Output or Motor Ports (A, B, C) 3 Input or Sensor Prots (1, 2, 3) IR Transmitter/Reciever

20. The Handy Board The Handy Board is based on the 52-pin Motorola MC68HC11 processor, and includes 32K of battery-backed static RAM, four outputs for DC motors, a connector system that allows active sensors to be individually plugged into the board, an LCD screen, and an integrated, rechargable battery pack. This design is ideal for experimental robotics project, but the Handy Board can serve any number of embedded control applications.

21. Advantages: Nearly C++ functionality Open Source Kernel (adaptable to our needs) Disadvantages: Complexity of Program Bugs in new language. Advantages: Simplistic Easy to learn Disadvantages: Limited number of var. Limited data types Functionality not complex enough.

22. Evolutionary Model Lends itself to testing and improvement in several betas. Benefits: Downfalls: Difficult to apply to a timeline due to iterations.

24. Sensor Port Limitations: We must find a way to use 5 sensors given only 3 sensor ports. Robot Challenge: RCX Robot vs. Handy Board Bot