User:Jpereira

Meeting Summaries

October 8, 2010

Summary of meeting between Prof. Pedro Lima and José Nuno Pereira on October 8, 2010.

Topics:

• Bio-Inst Project:

Confirmed participation on further tasks of the Bio-Inst project, focusing on the tasks regarding institutional task and modeling.

• Formalization of Institutions (PN work):

Presented initial ideas about formalization of institutions as Petri Net Plans and some examples using the corridor case-study.

• Corridor Case-Study:

Real robots experiments on the corridor case-study were not performed. This was due to the inability of combining camera operations and infrared message exchange operations on the e-puck robot (both being too demanding on the dsPIC processor). This problem can now be bypassed with the use of the new infrared boards for the e-puck. These possess a separate processor dedicated to deal with all aspects of message exchange. This allows the e-puck original dsPIC to be able to handle the camera operations.

Being that a previous version of the case-study, where the camera was not used, was implemented, the following steps might lead to the implementation of the latest version of the experiment on real robots:

1. switch infrared message library so that message exchange is performed using the infrared board instead of the robots' proximity sensors;
2. implement wall-following mechanism using the camera (in order to keep a distance with neighboring robots);
3. basic camera functions (pixel color, image color) already implemented but need to be well calibrated, either on a static way (with constant light conditions every time the experiment is performed) or in dynamic way (running a calibration algorithm in the beginning of the experiment);
4. combine previous bullets into one single controller;
5. cross fingers and run the experiment.