Assignment on Thymio II Program for CS Module

· Late submission of referred coursework will automatically be awarded a grade of zero (0).

· Coursework (including deferred coursework) submitted later than five days (five working days in the case of hard copy submission) after the published deadline will be awarded a grade of zero (0).

· Where genuine serious adverse circumstances apply, you may apply for an extension to the hand-in date, provided the extension is requested at a reasonable time in  advance of the deadline.

This Assignment assesses the following module Learning Outcomes (Take these from the module DMD):

Intended Learning Outcomes:

Knowledge and Understanding:

Successful students will typically:

• have a knowledge and deep understanding of a variety of AL techniques and methods applicable across domains ranging from molecular computational  biology and evolution of agents to behaviour-oriented and social robotics.

Skills and Attributes:

Successful students will typically:

• be able to critically evaluate and articulate some recent Artificial Life paradigms for building agent systems and modeling biological systems.

Please see Assignment Brief below.

Please submit you Assignment work through the StudyNet/Canvas 7COM1032 Module Assignments Submissions page. Your submission should include:

1. Your completed Front Cover Sheet (page 1 of this document)

2. Your Thymio II Program file ( AEPL file)

3. A Robot Architecture Diagram which illustrates how your Thymio II program is structured. This assignment is worth 40 % of the overall assessment for this module.

Please see Marking Criteria Sheet below. A note to Students:

1. For undergraduate modules, a score above 40% represent a pass performance at honours level.

2. For postgraduate modules, a score of 50% or above represents a pass mark.

3. Modules may have several components of assessment and may require a pass in all elements. For further details, please consult the relevant Module Guide or ask the Module Leader.

This assignment is Practically based and requires you to plan and produce a program for the Thymio II robots. Your program, which should be running identically on two Thymio Robots, should provide the following behaviours when the robots are running in the provided simulated Robot Arena (ASEBA Playground) :

1. The two robots should both be initially placed in random positions, one outside the dark blue oval track, and one inside the dark blue oval track. The track consists of a dark blue line on the Arena floor, and which is in the shape of an oval. Both robots should explore, avoiding any obstacles in the way (including the Arena Wall boundary) until the dark blue oval track is encountered.

Module Learning Outcomes

2. When the circular track/line is encountered, the robots should both turn left and then follow the darl blue track/line (i.e. in opposite directions, one moving Clockwise (CW) and the other Counter-Clockwise (CCW)). Whenever the respective robots meet each other at any point while following the track, they should both move aside allowing them to pass each other safely without collision, then find their way back to the track/line, then carry on following the circular track/line in the same direction they were originally travelling in.

Basic Functionality:

1. Implement the “LINE_FOLLOW” state/behaviour, so your robot can reliably follow the desired circular track on the Robot Arena in ASEBA Playground, when initially placed ON the track/line.

2. Add an “EXPLORE” state/behaviour that allows the robot to drive forward until the dark blue oval track is found, which then triggers or enables the previously tested “LINE_FOLLOW” behaviour. Make sure that the “outside” robot follows the line in the opposite direction to the “inside” robot. (Note, both robots should run the same program)

3. Use two robots and first get them to stop at a suitable distance when they meet each other when driving around the circular track. This should then trigger a transition to a suitable state(s) or set of subsumption behaviours.

4. Implement the sequence of robot Actions (states/sequence/behaviours) that are required to allow the robots to pass each other safely. The basic algorithm for this is: robot turns by some angle to the Right, then drives in a leftwards semi-circular path so that the robot deviates away from the line but then swings around in an arc back towards the line further on, then resumes LINE_FOLLOW. This sequence should allow the other robot to do exactly the same

actions, so that both pass each other without collision. Hint: use the timer to trigger the robot actions in the order/sequence required.

5. Code comments and clarity of reading and understanding (5) Advanced Functionality, in order of increasing difficulty:

1. Add a “STOP” state/behavioural element to your program that allows one of the buttons to Stop/Start the robots (convenient for placing your robot before running it after reprogramming it!). Note, Although not essential, this is very convenient for setting up and testing your program! (2)

2. Implement a behaviour that keeps the robots within the outer boundary Dark Black line. (2)

3. Modify your safe passing sequence to allow for the case when an object blocks the track while in “LINE_FOLLOW” state. (Hint, you possibly only need to modify the various parameters used for the passing sequence (motor speeds, timings etc.) (2)

4. Implement object avoidance in the case that an object is encountered while “EXPLORE”behaviour is active and the robot is searching for a Line to follow. (2)

5. If the Line is lost while the robot is in “LINE_FOLLOW” state, implement a recovery behaviour/sequence that triggers a transition to “WANDER” state. Hint, use a timer to abandon “LINE_FOLLOW” after a period of NOT sensing a line. (2)