
CS 371  Introduction to Artificial Intelligence
Homework #7 
Due: Last day of class
Note: Work is to be done in two teams (formed in class on 12/3).
Lego Robotics Challenge
The CS 371 Lego Robotics Challenge consists of a series of successive challenge
tasks that build on one another. In the fall of 2000, a single team
successful completed challenge tasks #1, #2, and #3 below. In this
fall of 2002, we will have two teams, each of which must choose one of
two goals:
Goal 1: Develop an improved design for performing all previously
achieved challenges. (You must clearly describe and demonstrate the
improvement.)
Goal 2: Use the previous design to achieve the next challenge(s).
Groups will need to (1) form, (2) commit to one of these goals, and (3)
develop a time table for work by the end of class on Tuesday 12/3.
Your progress as a group will be checked each class. You should plan
as groups to meet a number of times each week for the last two weeks of
class.
Challenge Tasks

Challenge #1  LineFollowing:
Design
and implement a lego robot that will follow a line through sudden turns
up to 90 degrees.

Challenge #2  IntersectionFinding: Design and implement a lego
robot that will follow a line as in (1), but stop when it comes to an intersection
of two or more lines.

Challenge #3  IntersectionChoosing: Design and implement a lego
robot that will, beyond (1) and (2), exit the intersection at the nth spoke
clockwise from the line it travelled.

Challenge #4  IntersectionTraversing: Design and implement a lego
robot that will perform (3) in succession given n1, n2, n3, ...

Challenge #5  Search and Traverse: Design and implement a lego
robot 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).

Challenge #6  Localize, Search, and Traverse: Design and implement
a lego robot 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).

Challenge #7  Explore, Search, and Traverse: Design and implement
a lego robot that explores lines and intersections, forms a graph roadmap,
and moves 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).
Work on either goal should essentially be complete by early in the last
week. Teams will need to budget time to document their work (see
Fall 2000 example below) for the benefit of future teams. A large
portion of the final team grade will be devoted to the quality and completeness
of your documentation. Our last class will be open to visitors
and will feature demonstrations and small presentations of work by each
team. Work hard, have fun, and enjoy the challenge!
Useful links