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--- public:t-622-arti-08-1:final_project [2008/02/12 14:07] – eric
+++ public:t-622-arti-08-1:final_project [2024/04/29 13:33] (current) – external edit 127.0.0.1
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-====== RobotSim ======
+====== Final Project ======
-The RobotSim provides a flat 3D world in which lives a robot rover. Your goal is to code the rover's program. The goal of the rover is to pick up as many rocks as possible and deliver them to bins, in a limited time. Your program's score will be computed from various parameters (see details).
+[[cadiarover]]
-===== Details =====
+Final Project Committee: Kristinn, Hannes, Eric, Bjarni Þór Árnason.
-==== World ====
+Your final project has been specified on these Wiki pages and in class. Your task is to win the competition. You should also demonstrate, in your solution to the task, (a) an understanding and mastery of subsumption architectures and/or other approaches to AI architectures, (b) the ability to combine different AI techniques for solving complex problems and ( c) be able to articulate these in a design document that the your team hands in (min 2 pages; max 5).
-The rover consumes energy, and energy consumption works against the score. Moving consumes more energy than standing still.
+If you have any questions please email thorisson@ru.is and eric@ru.is before March 29th.
-Rocks are spread randomly and come in two colors: yellow and green. Both add to the score when picked up and can be delivered to the bins (adds to the score too), but picking a green one consumes more energy.
-The world is randomly populated by white objects - danger zones - that consume energy when crossed.
+==== Task ====
-The world also feature four teleportation pods, very roughly arranged in a squarish form. When you enter one from the west or east you'll reappear on the teleporter located roughly at the same latitude. If you enter from the north or south, you will reappear in the teleporter located on the same longitude.
+Drive around and select as many objects as possible, drive them to the object 'bin' and drop them off. Use as little energy as possible in the process.
-There are two (blue) bins in the world.
+The goal in the final project is to WIN!
-==== Rover ====
-The rover moves like a tank. You can control the speed on the left and / or the right side. It is equipped with a basic autopilot: given an angle relatively to the rover's current heading and a distance, it will slow down then stop, rotate and eventually reach its destination in a straight line at a given speed. Autopilot can be canceled and resumed without losing its target.
+=== Rules ===
-The rover has two sensors, directed towards the front: a low resolution cone that gives you the relative angle and distance of an object (low accuracy), and a high resolution cone, narrower and shorter, that gives the type and color of an object. In addition, the rover can detect collisions with its hull, giving the same information as the high resolution sensor, on 360 degrees, but at distance 0.
+  * You will get 4 minutes to run your system. You must implement a programmatic *freeze* set at 4 minutes.
+  * You will all use the same psySpec and everyone will get the same layout of the world. This layout is unknown to everyone in advance. You will get a psySpec that is similar to the one that will be used in the final project in early March.
-The rover also reports periodically its current status: heading (low accuracy), wheel speed and ground speed. It will notify you when it reaches its destination in autopilot mode (more precisely, when the destination lies under a certain distance threshold). Finally, you will be notified when teleportation occurs.
+  * Only selected (pre-determined) parameters in the Psyspec are allowed to be changed (TBD); no other changes are allowed!
+  * The world will be composed of the following:
-The rover has a limited carrying capacity.
+    * Yellow and green boxes - these are to be picked up and brought to the "object bin". Each has a different cost, and a score.
+    * There are teleporters - they work exactly like they work now.
-For the details see PsySpec.xml in the RobotSim directory.
+    * There will be 50 objects that can be carried. Some objects will have a UID.
+  * Your rover will have the following abilities:
-===== Development =====
+    * Can carry 3 things simultaneously.
+    * The outer cone will be roughly 4x the rover size; the inner cone is roughly the rover size.
-You will code C++ Psyclone cranks, i.e. dll code to be executed as threads by the Psyclone middleware. The 3DWorld is one of them.
+    * The rover can lay down beacons with UIDs. Laying them down has a cost.
-Pysclone modules send messages and receive some, depending on their subscriptions (see Psyclone documentation in psyclone1.1.7.CADIA.win32\html) defined in the PsySpec file.
+    * Know the time left.
+    * Rover has a predetermined maximum speed which is the same for everyone.
-You can use the Test function defined in cranks.cpp in the RobotSim project as a template for creating a module. You can define as many cranks as you want.
+  * Score will be computed from various parameters (TBD).
+  * You must use the computers in O-432. You are allowed to use as many computers as you want.
-Create a new visual studio solution getting most of the settings from the RobotSim.sln. By most, we mean everything but the settings relevant to Ogre. You can also duplicate the RobotSim.sln and 3DWorld.vcproj files - maybe requiring minor manual tweaking in a text editor.
-Shall you start from scratch, you will have to include files from psyclone sdk \ Core Library \ include, and link against CoreLibrary.lib, Psapi.lib and IPHlpApix.lib, located in psyclone sdk \ Core Library. These are release builds; shall you run in debug mode, use the version of CoreLibrary under the debug directory.
-In any case copy the files dll.* and cranks.* in your source directory, load them in your project, remove the Runtime crank, rename Test and code your own crank. Shall you need more cranks, define more functions on the same template. Copy also the PsySpec.xml with no change. Then add the specification of your own crank(s).
-Note: a Psyclone module is a set of cranks. You can define more than one module, with more than one crank.
-As for RobotSim.sln, setup the execution in the project properties, debugging section: that's how you'll start the application.
-To stop: in debug mode, use the debugger stop button; in release mode, 3 times CTRL-C in the Psyclone shell window.
-===== 3DWorld =====
-You can navigate manually in the 3D world using the mouse (yaw, pitch) the arrow keys (left right forward backward) and the page up / down keys (up down). The S key will display stats (basically the FPS), the V key displays the two sensor cones.
+== Score ==
+The rover consumes energy, and energy consumption works against the score. Moving consumes more energy than standing still.