Name:	Bruce Wayne Turner, Jr.

Class: 	EEL 5666 Intelligent Machines Design Lab

Robot Name:	The Swarm

Filename of paper: GROUP BEHAVIOR

Sensors: Infrared: 3 forward, 1 rearward.
	 Bump switches: 3 forward, 1 rearward
	 Sonar: 1 reciever each on robot
		1 transmitter on queen

Behaviors: The behaviors were divided in to two categories: individual behaviors and group behaviors.  A single robot can perform an individual behavior, but a group behavior requires multiple agents.  The following list describes each individual behavior:

? Self-identification: each robot determines which behaviors can be used according to which type of robot it is.
? Calibrate IR: determines the minimum and maximum values for the IR sensors.
? Self-diagnostic: determines if any sensors are not connected properly to the microprocessor.
? Bumpers: uses bumpers for collision avoidance.
? IR: uses infrared for collision avoidance.
? Sonar: emits sonar.
? Battery: checks battery status.
? Detect IR: looks for infrared from other robots.
? Display functions: display various numbers on the LED display.
? Behavior selector: determines which behavior to assume.
? Curve left/right: used to turn instead of pivot.
? Rotate: spins the robot around its center 360 degrees.
? Follow: follows IR source- typically the rear of another robot.
? Moods: determines which mood to assume.
? Happy/Angry/Sleepy/Frightened mood: act according to the current mood.
? Do nothing: robot waits certain amount of time with sensors off.
? Roll left/right: pivots robot 90 degrees.
? Count up/down: displays sequence on LED display.
? Get Happy/Angry/Frightened/Sleepy: assume the appropriate mood state. 
? Test: functions that explicitly test certain hardware/ software components.
The following list describes some of the group behaviors:

? Find queen: locate queen’s sonar source.
? Go to queen: seek origin of queen’s IR source.
? Listen to queen: receive data via sonar from queen.
? Swarm: robots come together and stop.


Each robot has determines its mood based on its battery condition, environmental factors, and communications it has received.  The happy mood is acquired when the robot has a high charge on its batteries.  This mood causes the robot to become very active, driving its motors at full speed, spinning frequently, etc.  The angry mood occurs when the robot is bumped too many times or other factors, such as when it gets trapped in a corner.  Then the robot becomes belligerent and rams into obstacles and turns very sharp corners.  The frightened mood causes the robot to avoid physical contact with all obstacles and other robots.  The frightened robot drives backwards when it sees an obstacle in front.  When the battery state is very low, the robot gets sleepy.  In the sleepy mood, the robot drives slowly and stops often to conserve power.  

The robots can communicate their mood state through the IR communication system.  When a robot receives a mood from another robot it can choose whether to assume that mood or not.  For example, a happy robot can tell a sleepy robot that he is happy.  The sleepy robot will try to assume the happy mood but if he is unable to (his batteries may be too low) then he will continue being sleepy.  In this sense, the robots do not issue orders to one another, but merely communicate their mood to each other.