Bryan Mackrell's RoboWorld

C. David Shaffer, mentor

RoboWorld Downloads **Updated 4/28/03**

RoboWorld Timeline - Includes updates and progress **Updated 4/28/03**

Control Flow Structure - Diagram for client/server interaction **Updated 4/28/03**

RoboWorld Pictures - Screen shots of Robot World in action **Updated 11/12/02**

RoboWorld Movies - Animations taken from a running Robot World simulation

RoboWorld Test Results - Which strategy did the best? Find out!!! **Updated 4/28/03**

This project consists of three main parts:

• Creating a physical simulation using an object-oriented approach -- robot problem solving (i.e. navigation and goal seeking)
• possible characteristics: motor response, collisions (terrain/other bots), sliding, detector capabilites, noise
• Applying 3d graphical models to the simulation to visualize the robots, their movements, and their 3d world
• create tools to allow editing/creation of 3d world and robots (appearance)
• Creating a server and a client to allow users to log in and run simulations
• ability of user to start new simulation
• ability to view a list of currently running simulations and join one
• possibilty of competition/tournaments
• owner of simulation can set rules, etc...
• ability of user to create/modify the 3d world
• user can watch visual of simulation, receive data about simulation, or both
• user can save data/visual for later use/viewing

1. World generator for users to generate their own world layouts

1. 3D terrain capability

1. clients in other languages - C++, C, LISP, Basic, etc...

1. damage system
2. angular momentum -- CDS: now works for dynamic-dynamic collisions. Looking for model for dynamic-static collisions...
3. fix time steps in simulation so they are longer or shorter based on speed of simulants
4. more games (capture the flag, get to position x, push object, etc.)
5. shaft encoder detector + modifications to drive train/wheels, signal transmissions, motion detection
6. handle collision between two rectangles
7. fix noise -- variability?
8. 3D terrain capability

1. run multiple simulations in a row

• Technologies Links:
• Cincom - makers of VisualWorks for Smalltalk
• GLUI Toolkit
• GLOW Toolkit
• Simulation Links:
• RoboCup
• Case Study: "Simulation! - Why do you need that?"

RoboWorld Feedback, or
mackrebl@westminster.edu