 |
2D5350
Behaviour-based Robotics - Project description
|
 |
|
Course Term Project
Team Project
Project Requirements and format
Due date: Last day of class. Late projects will be marked down
severely.
You will need to form a team of no more than 4 students, no less than 2.
If you have
difficulty forming a group let me know and I'll facilitate it.
You have some latitude in what you can do. You can either submit an original
proposal,
or undertake one of the suggested projects below. Only one
team is permitted per project topic however. In any case, I will
need your project proposal stating what it is that
you will be doing sent to me no later than the first class
after break. Earlier is recommended, so you can be thinking about it during
break.
Two sections for the final project submission
are involved. The first section will consist
of a thorough
discussion of the approach chosen for the implementation of your
robot demonstration/simulation. This will require analysis and comparison
to related work in the field.
The theoretical aspects, limitations, and assumptions of the behavioral model
you choose to implement for the chosen domain
should be clearly described. Your understanding of
the nature of the problem area should be readily apparent.
(This section should be
approximately 10 double-spaced pages in length).
The second section consists of the computer simulations or robotic
results.
It would typically include (but is not limited to) the following:
- A statement of the problem domain tackled.
- A high-level description of your program.
- Source code.
- Actual demonstration runs.
- Evaluation of your success.
- Test cases used and justification for their choice.
- Problems encountered, problems that remain.
- Limitations of the system.
- What you learned. Did you meet your goals?
Your project should be of sufficient quality to enable
use by other members of the CAS community. It should be
user-friendly
and readily understandable (i.e. well documented)
at all levels.
The test cases chosen should not be hard-coded,
thus allowing for easy introduction of new test cases. The code
should be able to be demonstrated on request, ideally via www.
The only limitation
on the machine chosen for your implementation is that your project can
be demonstrated from within CAS.
Any other machines
will require special approval. Machine readable format is also to be
submitted (e.g.~floppy disk, file transfer, etc.)
The results will have to be demoed directly to me, and to the
entire class on the last session of class.
Each team must do something unique, so it's to your advantage to
determine what your project is sooner rather than later.
Teams that have a full complement of 4 members will get first choice.
Some suggested ideas (you're not limited to these only though):
- Extend the JavaBots system to incorporate temporal sequencing and the
introduction of map knowledge for waypoint generation, demonstrating
path planning and navigation through a building.
- Behavior-based gait generation for a hexapod (e.g., Hermes II - this
is a LISP based system).
- Extension of MissionLab or JavaBots to include behavior-based
mobile manipulation capabilities.
- Behavior-based implementation of various ocular reflexes for
a robot head and incorporation into a user-friendly interface.
- Implementation of reinforcement learning in a underwater pool cleaning
robot, tested over a broad range of pool shapes.
- Implementation of a behavior-based
solution to any of the AAAI-97 mobile robot competition events, other than find-life-on-Mars (which already is in JavaBots),
i.e., find-the-remote, home vacuum, or hors d'oeuvres anyone events.
- Development of an original behavior-based
robot control team that can compete in RoboCup-98, using any architecture
discussed in this course and that is not currently
available on the Internet, and that uses the official RoboCup
simulator to test your ideas:
(rules: http://www.robocup.org/RoboCup/)\\ (simulator: http://ci.etl.go.jp/~noda/soccer/server.html)
You are free to propose other tasks of equal or greater complexity that
are implemented using behavior-based control as defined in this course.
What I need from you by no later than
the first day of class after Christmas break, preferably sooner:
You are to write an abstract of the work that you intend to do
for the project. This should include as a minimum:
- Names of team members
- What is the specific research question you are addressing.
- A general outline of the methodology you intend to follow.
- A justification as to how this project/paper fits within the
context of this course and is of sufficient complexity to
warrant undertaking. (not needed if from list above).
- The computer/robot you intend to use.
As there is only one topic per team, you should have an alternate
project if you have not expressly requested it and your team
reserved it through me
prior to the due date above. {\bf It is strongly suggested that
you pick a project topic as soon as possible to avoid unnecessary
effort on your part.}
Remember, your
topic is subject to approval. Please come talk to me or send email
for an informal
OK before the proposal write-up to save you from wasting time.
Remember, you do not have unlimited latitude in your project choice.
Your project may require restructuring after review of your
proposal (or be completely redone),
so you are strongly encouraged to submit it earlier than the due date shown.
Upp till Course homepage.
Sidansvarig: <arkin@nada.kth.se>
Senast ändrad 8 december 1997
Tekniskt stöd: <webmaster@nada.kth.se>