#  | # Applied Autonomous Robots I
# Final Exam FAQs Q: Which robot type are we to use? A: P2AT. Q: What robot parameters are we to use? A: Same as those given in Assignment 2. Q: How does each sensor work? (Field of view, number of sensors) A: The P2AT has a ring of sonars, a laser range finder, odometry sensors, ins sensor, and touch sensors. Q: Do all sensors "cost" the same? A: No. Sensors that provide more fine grain data will cost more. Global sensors, i.e. INS, will cost more than local sensors, i.e. odometry. Q: Will we be provided with a discretized map? A: No. You must decide on how you want to discretize the map. # Final Exam Scoring Guidelines Below is the formula that will be used to assess each team's performance: Score = gamma*(g/G) - sigma( s/2) - lambda( (l-1)/2 ) - mu( m/M ) - omega( o/O ) - phi where g = number of goal reached and G = total number of goals; s = number global sensors used (GPS or INS); l = number local sensors used (touch sensors, odometry (wheel encoders), ultrasonics, laser range finders); m = number of moving walls struck and M = total of moving walls; o = number of unmodeled obstacles struck and O = total of unmodeled obstacles; and the weights are as follows: gamma = 100%, rewards goals reached; sigma = 20%, penalizes for global sensors; lambda = 20%, penalizes for local sensors; mu = 12%, penalizes for hitting moving walls; omega = 20%, penalizes for hitting unmodeled obstacles; phi = 10%, penalizes for general failures such as immobolized or flipped robot. More points will be awarded to teams that start at a higher level of difficulty. Which map you want to start with must be declared before you start. Easy Map Regular Map Hard Map # Final Exam Sample Files
Maps | Notes | Test Goals
--- | --- | ---
Sample Map 1 Files MEM380_sample1.ut2 MEM380sampleMap1.bat SASLab_Meshes.usx | Download and unzip the files. Place `MEM380_sample1.ut2` in the UT2004 "Maps" directory. Replace the existing `SASLab_Meshes.usx` file located in the UT2004 "StaticMeshes" directory with the new one. Place `MEM380sampleMap1.bat` in the UT2004 "USAR_Map_Files/RunClientOnly" directory. To start, double-click on `MEM380sampleMap1.bat`. | Here are some specs and sample goal locations for the workspace: The dimensions of the workspace is 16.384 m x 16.384 m x 4.096 m with the origin placed off-centered in the room. Example goal positions: (15.2, 0), (11.5, 7.7), (9.5, -7.7), (4.9, -4), (8.3, 1.6), (-15.3 -6.3)
Sample Map 2 Files sampleFinalMap2.ut2 sampleFinalMap2.bat | Download and unzip the files. Place `sampleFinalMap2.ut2` in the UT2004 "Maps" directory. Place `sampleFinalMap2.bat` in the UT2004 "USAR_Map_Files/RunClientOnly" directory. To start, double-click on `sampleFinalMap2.bat`. | Here are some specs and sample goal locations for the workspace: The dimensions of the workspace is 16.384 m x 16.384 m x 4.096 m with the origin placed off-centered in the room. Example goal positions: (-8, -7.5), (6, -5.5), (6, 0), (10.5, 10.5), (-4, 7.7), (-10.5, 5)
Sample Map 3 Files sampleFinalMap3.ut2 sampleFinalMap3.bat | Download and unzip the files. Place `sampleFinalMap3.ut2` in the UT2004 "Maps" directory. Place `sampleFinalMap3.bat` in the UT2004 "USAR_Map_Files/RunClientOnly" directory. To start, double-click on `sampleFinalMap3.bat`. | Here are some specs and sample goal locations for the workspace: The dimensions of the workspace is 16.384 m x 16.384 m x 4.096 m with the origin placed off-centered in the room. Example goal positions: (0.5, 5.3), (7, 7), (-1.5, 1.5), (1.5, -1.3), (1.5, -3.8), (-5.4 -5.4)
The "no tricks" version of the sample maps can be found here. Make sure you place them in the "Maps" directory. |  |