Guide Lego Robot Towards Intelligence

Student thesis: Master thesis (including HD thesis)

  • Jonas Vejlin
  • Christian Dietz
  • Tharaniharan Somasegaran
4. term, Software, Master (Master Programme)
This report deals with the implementation of a multi-agent system. The implementation is a realization of the theory about POMDP and I-POMDP. In the implementation agents are represented using Lego Mindstorm, Wii Remotes are used as a positioning system and graphical models are created using Hugin Expert. The system itself is programmed using conventional C++. Focus has been placed upon implementing a chosen scenario using the theory, and the issues that arise when doing so. Examples of these are: Attaining a viable data structure that will be able to efficiently represent the exponentially increasing amount of data in a policy tree. The creation of a transition function, takes the uncertainty of actions into account. The choice, representation and implementation of an environment that would normally be too large to support higher time horizons.
LanguageEnglish
Publication date2009
Publishing institutionAalborg University, Department of Computer Science
ID: 17995002