University of Calgary
Rob Kremer
Group Assignment: Multi-agent Robots in CASA

CPSC 601.68/599.68: Agent Communication
Winter 2008
Department of Computer Science
Computer
Science

Note: This is an group assignment. The work is shared among the group members and each member is responsible for all of the work. For example, if there is plagiarism is found in the assignment, every member is responsible. The group is expected to do it's own work, and must properly cite any and all work taken from external sources.
Each member is responsible to carry their own portion of the workload. To this end, there is a peer assessment process where each member must assess each other member's contribution. Individual marks may differ based on the peer assessment, the instructor's assessment, and other factors.

iRobot CreateThis is a multi-agent (multi-robot) assignment in which you have to write agents to autonomously control two robots. The environment will consist of a rectangular room with a graph drawn on the floor. The graph consists of an arbitrary number of virticies (or nodes), each connected to the other virticies by zero or more paths (or lines or edges or arcs). The virticies will be dark circles with an approximately 12cm diameter, and the paths will be dark lines approximately 2cm wide. The paths will not cross, and will all be spaced at least a .6 robot diameters apart, except near verticies, where they may be closer, but they are guarenteed intersect the verticies at no less than 70 degrees from any other path and at right angles to tangent to the circle.

The goal of the task is to program two robots to park on adjacent virticies (connected to each other by at least one uninterupted path). The two robots must find each other and negotiate appropriate choices of verticies. To complicate matters, there will be zero of more "dead" robots parked on verticies (which may NOT be moved). The "live" robots may NOT park adjacent to "dead" robots.

You may not use any other sensors other than the sensors the iRobot Create has built-in. The cliff sensors are very useful for detecting lines and virticies drawn on the floor. You will be provided with software (available from the CVS repository) to help you in basic tasks, such as following lines. You are NOT required to use this software, and you may modify it as you see fit.


UofC
CPSC 601.68/599.68: Agent Communication
Department of Computer Science

Last updated 2008-03-25 13:28
Rob Kremer