The Robotics Primer Workbook Developed by  USC, iRobot® and Microsoft® Robotics Studio

Categories: Exercise | Player Exercise

Behavior:Exercise3-Flocking

Setup

This exercise will require a swarm of robots. Simulation is the cheapest way to create a swarm of robots for development use. See Group:Group Howto for an example of how to create a swarm of robots in simulation.

Sensing Other Robots

The blobfinder proxy can be used to determine what other robots are in the area. The following code is an example:

   PlayerCc::BlobfinderProxy* bp = (PlayerCc::BlobfinderProxy*)
     clients[i]->GetProxy(PLAYER_BLOBFINDER_CODE,i);      
   int width = bp->GetWidth();
   for( unsigned int j = 0; j < bp->GetCount(); j++ )
     printf( "x: %d y: %d\n", bp->GetBlob(j).x, bp->GetBlob(j).y );

this will print out the x and y coordinates (from the camera's point of view) of every detected blob in the scene. Robots will show up as red squares in stage.

Behaviors

1. Wander
2. Linear Safety
3. Angular Safety
4. Move toward robots