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37.3.4 ROBOTIC FUNCTIONS AND ERROR CORRECTION
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When creating behaviors for your robots, keep in mind the function that you wish to accomplish and then consider how that function is negatively affected by variables in the robot s likely environments. For practical reasons (budget, construction skill), you must consider at least some of the limitations of the robot s environment in order to make it reliably demonstrate a given behavior. A line-following robot, which is relatively easy to build and program, will not exhibit its line-following behavior without a line. By itself, such a robot would merely be demonstrating a simple action. But by adding error correction to compensate for unknown or unexpected changes in environment the line-following robot begins to demonstrate a useful behavior. This behavior extends beyond the robot s immediate environmental limits. The machine s ability to go into a secondary, error-correcting state to find a line to follow is part of what makes a valid line-following behavior even more so if in the absence of a line to follow the robot can eventually make its own. Error correction is rule number three of behavior-based robotics. Without error correction, robots operating in restrictive environments are more likely to exhibit simple, even stupid, actions in response to a single stimulus. Consider the basic wall-following robot again: it requires a room with walls and, at that, walls that are closer together than its turning radius. Outside or in a larger room, the robot behaves completely different, yet its pro-
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37.4 MULTIPLE ROBOT INTERACTION
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gramming is exactly the same. The problem of the wall-following robot could be fixed either by adding error correction or by renaming the base behavior to more accurately describe what it physically is doing.
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37.3.5 ANALYZING SENSOR DATA TO DEFINE BEHAVIORS
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By definition, behavior-based robotics is reactive, so it requires some sort of external input by which a behavior can be triggered. Without input (a light sensor, ultrasonic detector, bumper switch, etc.) the robot merely plays out a preprogrammed set of moves simple actions, like a player piano. More complex behaviors become possible if the following capabilities are added:
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The ability to analyze the data from an analog, as opposed to a digital, sensor. The output of an analog sensor provides more useful information than the simple on/off state of a digital sensor. This data and ability could be called sensor data parametrics. The ability to analyze the data from multiple sensors, either several sensors of the same type (a gang of light-sensitive resistors, for example) or sensors of different types (a light sensor and an ultrasonic sensor). This is commonly referred to as sensor fusion.
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Consider sensor parametrics first. Suppose your robot has a temperature sensor connected to its on-board computer. Temperature sensors are analog devices; their output is proportional to the temperature. You use this feature to determine a set or range of preprogrammed actions, depending on the specified temperature. This set of actions constitutes a behavior or, if the actions are distinct at different temperatures, a variety of behaviors. Similarly, a photophilic robot that can discern the brightest light among many lights also exhibits sensor analysis from parametric data. Sensor fusion analyzes the output of several sensors. Your robot initiates the appropriate behavioral response as a result. For example, your robot may be programmed to follow the brightest light but also detect obstructions in its path. When an obstruction is encountered, the robot is programmed to go around it and then continue perhaps from a new direction toward the light source. Sensor fusion helps provide error correction and allows a robot to continue exhibiting its behavior (one might call it the robot s prime directive) even in the face of unpredictable environmental variables. The variety, sophistication, and accuracy of the sensors determine how well the robot will perform in any given circumstance. Obviously, it s not practical, economic or otherwise, to ensure that your robot will work flawlessly under all environments and conditions. But the more you give your robot the ability to overcome common and reasonable environmental variables (such as socks on the floor), the better it will display the behavior you want.
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