Assignment on Thymio II Robot Program Development

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

9. Intended Learning Outcomes:

a. 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.

b. 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

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.

Using your Robot Control Architecture Diagram as a guide, write the program for the Thymio IIrobots. Use the ASEBA Playground simulator to develop your program. You do not need to run your program on the real Thymio robots but just use the ASEBA Playground simulator. When developing your program, do not try to do everything in one go! The suggested order to implement the functionality is as follows:

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, thenresumes 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 (15 Marks Max, as indicated below):

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)