Spring2011RobotLabAssignment5 - Revision history

Ar374: /* Grading */

2011-06-01T17:18:56Z

Grading

Ar374: /* Submission */

2011-06-01T17:11:17Z

Submission

Ar374: /* Grading */

2011-06-01T17:10:08Z

Grading

Ar374: /* Configuration Files */

2011-06-01T17:09:30Z

Configuration Files

Ar374 at 17:09, 1 June 2011

2011-06-01T17:09:08Z

Ar374: /* Feedback */

2011-06-01T17:06:58Z

Feedback

Ar374 at 17:06, 1 June 2011

2011-06-01T17:06:35Z

Ar374: Created page with '==Assignment 4== In this assignment, you will program a robotic ant colony to use stigmergic communication techniques to locate food and navigate between the home and food sourc…'

2011-06-01T17:03:30Z

Created page with '==Assignment 4== In this assignment, you will program a robotic ant colony to use stigmergic communication techniques to locate food and navigate between the home and food sourc…'

New page

==Assignment 4==

In this assignment, you will program a robotic ant colony to use stigmergic communication techniques to locate food and navigate between the home and food source. All of the ant robots have the use of the sonar sensor, as well as access to the fiducial proxy, which can be used to determine whether the robot is home or at the food source. You will program your robots to wander around randomly until they find food. Then, they will travel between home and the food source. In the first part, your ant colony will form a path in an open space, and in the second, it will compute the shortest path through some tunnels to a food source.

* You may not hard code the locations of home and food.
* Your ants must make completely random moves (e.g., not going directly diagonally towards the food).
* Your ants may lay two types of pheromones or simply change the direction of the gradient when traveling back home.
* Your robots can only read the pheromone levels of adjacent squares---they cannot access another robot's proxies.
* Your robots can only share the data structure you created to store the pheromone map.
* You may use any decay function you like.
* Document your approach and produce some kind of visualization showing convergence (e.g., movie showing pheromone strength over time).
* You may use the same client code for both maps.

As with previous assignments, you will be provided with configuration files and maps.

===Configuration Files===
Configuration files are provided here: [[Media:stigmergic-config.zip]].

As before, an optional skeleton program is provided for the client.

* Sonar - This robot contains the sonar sensor.
** You may start with ants.cpp as your client file.
** To run: <code>player open.cfg</code> or <code>player paths.cfg</code>

===Submission===
* Email your robot client code to both TAs with a README file containing any necessary build instructions.
* If something does not work properly or is incomplete, please say so in the README.

===Grading===
* Part 1 (10 points)
** Colony converges (7 points)
** Visualization (3 points)

* Part 2 (10 points)
** Colony converges (7 points)
** Visualization (3 points)

* Code Documentation: 2 points

'''Total: 20 points'''

===Map===
[[Image:Paths.png]]

===Expected Results===
[[Media:Miller-open-1.avi‎]] Open map simulation.

[[Media:Miller-paths-2.avi]] Paths map simulation.

@@ Line 32: / Line 32: @@
 * Colony converges (7 points)
 * Visualization (3 points)
-* Code Documentation & AHOY/PS Feedback: 5 points
+* Code Documentation & AHOY/PS Feedback (5 points)
 '''Total: 15 points'''

@@ Line 30: / Line 30: @@
 * Colony converges (7 points)
 * Visualization (3 points)
-* Code Documentation: 5 points
+* Code Documentation & AHOY/PS Feedback: 5 points
 '''Total: 15 points'''

← Older revision		Revision as of 17:06, 1 June 2011
Line 39:		Line 39:

	'''Total: 20 points'''		'''Total: 20 points'''
−
−	~~===Feedback===~~
−	~~We'd like feedback comparing AHOY and Player/Stage. Specifically, we're interested in the ease of use, simplicity of setup, and~~

	===Map===		===Map===

@@ Line 26: / Line 26: @@
 * Email your robot client code to both TAs with a README file containing any necessary build instructions.
 * If something does not work properly or is incomplete, please say so in the README.
 ===Grading===

@@ Line 15: / Line 15: @@
 ===Configuration Files===
-Configuration files are provided here: [[Media:stigmergic-config.zip]].
+The configuration file is provided here: [[Media:stigmergic-config.zip]].
 As before, an optional skeleton program is provided for the client.

@@ Line 1: / Line 1: @@
 ==Assignment==
-In this assignment, you will program a robotic ant colony to use stigmergic communication techniques to locate food and navigate between the home and food source. All of the ant robots have the use of the sonar sensor, as well as access to the fiducial proxy, which can be used to determine whether the robot is home or at the food source. You will program your robots to wander around randomly until they find food. Then, they will travel between home and the food source. In the first part, your ant colony will form a path in an open space, and in the second, it will compute the shortest path through some tunnels to a food source.
+In this assignment, you will program a robotic ant colony to use stigmergic communication techniques to locate food and navigate between the home and food source. All of the ant robots have the use of the sonar sensor, as well as access to the fiducial proxy, which can be used to determine whether the robot is home or at the food source. You will program your robots to wander around randomly until they find food. Then, they will travel between home and the food source. Your ant colony will compute the shortest path through some tunnels to a food source.
 * You may not hard code the locations of home and food.
@@ Line 21: / Line 21: @@
 * Sonar - This robot contains the sonar sensor.
 ** You may start with ants.cpp as your client file.
-** To run: <code>player open.cfg</code> or <code>player paths.cfg</code>
+** To run: <code>player paths.cfg</code>
 ===Submission===
@@ Line 28: / Line 28: @@
 ===Grading===
-* Part 1 (10 points)
+* Colony converges (7 points)
-** Colony converges (7 points)
+* Visualization (3 points)
-** Visualization (3 points)
+* Code Documentation: 5 points
-* Part 2 (10 points)
+'''Total: 15 points'''
-** Colony converges (7 points)
-** Visualization (3 points)
-−
-* Code Documentation: 2 points
-−
-'''Total: 20 points'''
 ===Map===