Assignment 2 description

In Assignment 2, all problems are set in a Maze of the same type as Assignment 1.

The unity project, that can be found here: Assignment_2.zip Download Assignment_2.zip

You will solve five problems (P1-P5). Each problem is setup in a different "Scene" of the project.

A demonstration video of the five problems can be found here Links to an external site..

Problem P1: Short range multi agent search

This problem is relevant for UAV search, vacuum cleaning or lawn mowing, where the sensor footprint limits the search area.

Problem P2: Long range multi agent search

This problem is relevant for ground robot patrolling, where occluding obstacles limit the search area.

Problem P3: Vehicle Routing Problem (VRP)

With fewer items to visit, there is no need to search the entire area, instead ordering the items becomes more important.

Problem P4: Formation Sweep

In this problem you will move your cars in a formation, together with a "Replay Car" moving on a given trajectory. There are several potential benefits of formations:

With moving search objects it makes sense to joint up in larger sweeps to reduce the chance of objects entering already searched areas.
If localisation errors are significant, moving in formation reduces sensor overlap.

Problem P5: Shooter coordination

Given fixed positions of a set of enemies. Move your agents so that they win a shooter match against the enemies. Consider moving in cover behind obstacles, and in coordination with other agents.

Turrets and Cars

All problems above are set in an environment where you control a set of cars in relation to a set of gun turrets, as shown below.

In the search problems (P1-P4) the turrets have very low "health" and are immediately destroyed when in range and sight of the car. In the shooter coordination problem however, the turrets have only slightly smaller health values, and careful coordination must be achieved for the cars to survive.

Note that the turrets have a constant damage per second, whereas the car guns give extra damage at closer range.

The details of the problem setup can be found in the table below:

	P1	P2	P3	P4	P5
Problem type	Vacuum cleaner robots	Indoor security robots	Resupply robots (bread trucks)	Formation sweep	Shooter Game
Long range car gun		Yes			Yes
Long range turret gun					Yes
Weak turrets	Yes	Yes	Yes	Yes
Leader car to follow				Yes
# turrets	100	100	13	50	8
Access to turret positions allowed	No	No	Yes	No	Yes
Maze	P1	P2	P3	P4 (very sparse)	P5 (sparse)

To bring focus to path planning, rather than car control, we limit the max speed of the car to 20 for all problems except P4.

Progress report

The same routine as last assignment. Use this Google Sheet Links to an external site..