Project 1
Warm up: Patrol robot, a bump'n'go robot, and a friendly robot.
Collision avoidance.
Project 2
Particle filters for robot localization.
The projects tasks will consist of programming the robots, using a combination of C++ and Colbert, to perform a task. The task will be related to the material covered in the lectures. Students will work within the existing Saphira architecture, using the tools that it provides. The projects will be done in groups of 2-3 people. An important part of the project experience is learning to work efficiently within a group. The use of materials and systems commonly available, e.g., MATLAB, is encouraged.
We try to specify the tasks in as clear a way as possible. Usually there is example code that illustrates part of the task. If there is any doubt about the intent of a project, you are urged to communicate your concerns as soon as possible.
Each group is given a laptop to drive the robot around. You can also work with the
simulator on your own desktop machines. You'll need to install the software for
the platform of your choice.
Robot control software
export SAPHIRA=${HOME}/Saphira export ARIA=${HOME}/Aria export LD_LIBRARY_PATH="${SAPHIRA}/lib:${ARIA}/lib:$LD_LIBRARY_PATH"or in tcsh
setenv SAPHIRA ${HOME}/Saphira setenv ARIA ${HOME}/Aria setenv LD_LIBRARY_PATH ${SAPHIRA}/lib:${ARIA}/lib