"Intelligence always manifests itself in behaviour and that we must understand the behaviour." - Rolf Pfeifer
Author: Avinash Rai
Aseba Programming Language for Thymio 2 Robot
Notes:-
- Purpose: To design, implement, experiment and optimize a self-sustaining agent (robot) tasked to clean garbage repeatedly from its environment with high efficiency.
- Experimented in different unpredictible environments which will also include other agents serving to deter the primary agent from its goal (and survival).
- An agent has only two primary sensors (front and ground) at its disposable to percieve its environment.
- Agents have been designed with guidance from different Design Architectures defined in the Embodied Cognition literature.
Three main robots functionalities:-
MAIN BEHAVIOUR | FILE | DESIGN ARCHITECTURE |
---|---|---|
Wall following | robot_1_wall_following.aesl | Reactive - "Subsumption Architecture" |
Garbage Collection | robot_2_garbage_collection.aesl | Hybrid - Motivated, Heirarchical and Reactive |
Wandering | robot_3_wanderer.aesl | Reactive |
Fig: Behaviour Action Selection Dynamics for Garbage Collection
Two environments:-
- simple_environment.playground
- complex_environment.playground