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.

You will work in (self-selected) groups of 2. On Feb 18 you must give a 5 minute demonstration of your system to the class. Evaluation will be based on this. In addition to the demo, you may be requested to exhibit the code. You must send an email to thorisson@ru.is with a grade for your teammate. The grade you give your teammate should reflect how well he/she kept promises at the outset about contributions, how much he/she contributed to making the project a success, as well as how much he/she was ready to help solve problems that arose during the project.