Assigned: Mon Feb 11
Due: Mon Feb 18

You must use the CADIARover environment which is installed on the computers in O-432 (Ofanleiti 2, 4th floor, B-house). It consists of OGRE graphical environment, the Psyclone middleware and some example files.

• Instructions on how to run the CADIARover software (also explained in class)

Your task is to write a 2-layer Subsumption architecture that lets the rover explore the world while avoiding obstacles.

You may choose freely how you implement a 2-layer subsumption architecture.

To give a simple example, here is a 2-module, 2-layer subsumption system: A module called “RandomRoam”, which makes the hexapod roam randomly about, is subsumed by another module called “TurnAwayFrom“ that takes as input the location of an object and the orientation of the hexapod and avoids collision by steering the hexapod away from the object.