The Problem
- Line-Following: Implement robot line-following that will follow a line through sudden turns up to 90 degrees.
- Intersection-Finding: Implement robot line-following that will follow a line as in (1), but stop when it comes to an intersection of two or more lines.
- Intersection-Choosing: Implement robot line-following that will, beyond (1) and (2), exit the intersection at the nth spoke clockwise from the line it travelled.
- Intersection-Traversing: Implement robot line-following that will perform (3) in succession given n1, n2, n3, ...
- Search and Traverse: Implement robot line-following that, given a graph topology, its current intersection and heading, and its goal intersection and heading, will generate a sequence of moves and perform (4).
- Localize, Search, and Traverse: Implement robot line-following that, given all that is given in (4) except its current intersection and heading, will take action to ascertain its state (localize), and then perform (5).
- Explore, Search, and Traverse: Implement robot line-following that explores lines and intersections, forms a graph roadmap, and navigates to a graph intersection with the following property: Let d(i,j) be the minimum number of edges to travel to get from intersection i to intersection j. Let D(i) be max(d(i,j)) for all j. A goal intersection has the minimum D(i).