Altaira: A Rule-based Visual Language for Small Mobile Robots Joseph J. Pfeiffer, Jr.

1. Introduction 2. Background 2.1 Reactive control of autonomous mobile robots 2.2 Rule-based visual languages 3. A rule-based visual language for LEGO robots 3.1 Environment 3.2 Execution Engine 3.3 Rules and the Ruleset 3.3.1 Rule Inputs 3.3.2 Outputs 3.4 Rule Amalgamation and Subsumption 3.5 Termination 3.6 Ruleset development and debugging 4. Example Altaira Rulesets 4.1 Line Following 4.2 Compulsory Problem Solution 4.2.1 Line Following 4.2.2 Tile Recognition 4.2.3 Intersections 4.2.4 Tile Re-Entry 4.2.5 Notes 4.3 Final Problem 4.3.1 Road Course Exploration 4.3.2 New Tile States 4.3.3 New Robot States 4.3.4 New Rules 5. Conclusions and future research 5.1 Evolution 5.2 Current Observations 6. Acknowledgements 7. References

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Last modified: Tue Jul 18 15:09:36 MDT 2000