Page 207 - Introduction to AI Robotics

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Exercise 5.17 5 Designing a Reactive Implementation
Recall how some mammals freeze when they see motion (an affordance for a preda-
tor) in an attempt to become invisible, and persist in this behavior until the predator
is very close, then flee. Define this behavior using Behavior Tables.y
Exercise 5.18
Suppose the competition course described in Section 5.4 has been modified so that a
hay bale can be placed directly on the white line. The robot must move around the
bale and rejoin the line on the other side. Create a behavior table that not only follows
the line but correctly responds to the bale so that it can continue following the line.y
Exercise 5.19 [World Wide Web]
Search the web for the International Association for Unmanned Systems competition
home page and briefly describe three unmanned vehicle projects linked to the IAUS
site.y
Exercise 5.20 [World Wide Web]
Identify at least 5 robot competitions, and for each describe the basic task. Can the
task be accomplished with a reactive robot? Why or why not?

Exercise 5.21 [Programming]
Using Rug Warrior kits, Lego Mindstorms kits, or similar robotics tools, implement
your own schools version of an IAUS Unmanned Ground Robotics Competition.
Your class should decide on the course, the course objectives, rules, and prizes (if
any). Groups should not begin construction of their robot without first describing the
steps involved in designing a reactive behavioral system for the task at hand.y
Exercise 5.22 [Programming]
Write a script in pseudo-code for following a hallway. Consider that the robot may
start in a hallway intersection facing away from the hallway it is supposed to take.
Also the robot might start in the middle of a hall facing a wall, rather than having
forward point to the long axis of the hall.

Exercise 5.23 [Programming]
The Pick Up the Trash competitions were a bit different than actually presented in
this book. For example, the robots were actually permitted to cache up to three cans
before going to the trash can, and the robots could go after white Styrofoam cups as
trash. How would you integrate this into:

a. the FSA and
b. the script described in the book?
Exercise 5.24 [Programming]
Could the exception handling sub-scripts for picking up trash be implemented with
the exception handling functionality provided by Ada or C++?