CS395-03/EECE395-03

Behavior Based Robotics

Homework 4

Due Wednesday October 23, 2002

Your third homework assignment was to become acquainted with the RoboFlag game and develop 15 behaviors and their relationships to one another that a team or robots playing the game would need.  Answer each of the following questions based upon your previous homework solution (you may also include new behaviors).  Make absolutely certain that you describe the "why" for each answer.

• What are the absolutely necessary behavioral building blocks for a robot in this game and why?
• What are the absolutely necessary behavioral building blocks for a team of robots in this game and why?
• Which of the individual robot behaviors are considered primitive behaviors and why?
• For each behavior that applies to a single robot, how are the behaviors effectively coordinated for that robot and why?
• For each team behavior, how are the those behaviors effectively coordinated and why?
• For each behavior, how are those behaviors tied to sensors and actuators and why?  You might choose to use one of the representational mechanisms from Arkin Chapter 3 (FSA, Stimulus-Response Diagrams, or one of the formal methods). If you choose to use stimulus-response diagrams, you need to show the actual sensor input and the actual response output.