CSCI 235 - Intelligent Robotics

Spring 2017

The library files are in modeselection.zip. This includes all of the library files from the previous assignments.

The sample programs are in proj9.zip.

MapTrainerDemo.java lets you train the robot to build a topological map of its environment.
MapViewerDemo.java lets you view the robot's opinion as to which state its current image matches.
LandmarkDemo.java demonstrates how the topological map can be used to build a controller.

Note that for all of these programs, it will probably be useful to employ techniques from previous projects to achieve each goal.

Implement a program that drives the robot back and forth between two landmarks. Note that it might be useful to designate more than one state to correspond to a given landmark.
Implement a program that drives the robot through a circuit of three landmarks. It should visit each one in order.
Create a program employing LandmarkFlagger to perform any task of interest.

For each program, devise a metric for its performance on its task. How well did each program perform? Feel free to experiment with different parameter settings to optimize performance. Be sure to discuss the most useful parameter settings in your report and presentation.
For each program, what was an appopriate number of nodes and amount of image shrinkage? What aspects of the program drove the selection of each parameter?
Compare and contrast the LandmarkFlagger with the TrainedController from Project 8. What are some advantages and disadvantages of each approach?
What combinations of techniques did you find most useful in completing each of your tasks? Why?