Subtask5 - Integration

Docking Robots Updated - 12 Mar 2012 14:03

New code, new movie.

The code regarding docking has been significantly reworked using code written by Lutz. The docking code is now a lot easier to read and use, and is ready for its genomes.

Any genome wanting to make use of this docking code should set the seedingFace parameter vector for each seeding robot in initializeRecruitment(). As well as send relevant information to newly docked robots in seeding(), and listen to messages for the genome in macroLocomotion().

The rest of the process is provided by the current implementation, including switching to macro locomotion when the organism is finished.
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Parameters - 09 Mar 2012 10:17

A new way to set parameters from the scene file is now available. To use it, the parameter string has to follow the following format :


Egg : The parameter to say if the robot will start as an Egg
SP : A mandatory delimiter
SupervisorParamter : The parameters concerning the supervisor (all separated by the ';' character)
TC : A mandatory delimiter
TypeController : The parameter indicating which type of controller we are using (all separated by the ';' character)
CP : A mandatory delimiter
ControllerParameter : The parameters concerning the controller of the organism (all separated by the ';' character)
MP : A mandatory delimiter
MorphogenesisParameter : The parameters concerning the morphogenesis (all separated by the ';' character)

The advantage is that you can put as many parameter as you want between two mandatory field. And others doesn't have to care about how many parameters you planned to use.

Here is an example of parameter string
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Docking Robots - 22 Feb 2012 16:29

Here is a movie of two robots docking in Robot3D without any shortcuts. It's only 6.5mb and about 1 minute of your time so check it out :). Movie Link. The movie runs at about 1.5x - 2x my simulators speed, I don't have a clue how fast in relation to real world.

Please disregard the silly behaviour of the other two roaming robots, their intelligence needs to be increased one of these days.
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Computer List - 02 Feb 2012 10:24

  • VU - Berend: 8 cores, 2.5 Ghz, 16 GB RAM, Ubuntu 11.10, Robot3D and Delta3D installed in /usr/lib, public IP.
    • Currently used as desktop PC.
  • Graz Juergen: 2 cores, 2.1 GHz, 2GB RAM, Ubuntu 11.04, Robot3D and Delta3D installed in /usr/lib, UniGraz computer, thus only be used by authorized people (e.g., me)
    • Currently used as desktop PC.
  • CTU - Vojta: 2 cores, 2.8 GHz, 4 GB RAM, FreeBSD 8.2, Robot3D and Delta3D installed in /home, public IP
    • Currently used as desktop PC.

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Subtask 5 Kickoff - 20 Jan 2012 15:56

To facilitate the integration of the approaches for the demo a new subtask has been created.

Jean-Marc will be the spokesperson for this subtask. The status of this subtask is described below.


  • The Integrator for subtask 1 has not been chosen yet.
  • We need computers with ssh access to run experiments


  • Vojta is preparing a function getShapeOrganism(). With this, robots can know what's the shape of the organism they are in
  • Distance fitness function is done :
    • Jean-marc will make it available for the other partners of subtask 1
    • If others want to share this fitness functions, it can be provided through a high level fitness class
  • Leader Election:
    • Simple election of leader for the use of homogeneous genome
    • Would be better if each robot knows the shape of the organism
    • Can make it available to others if they need it. If no one send a request, it will stay in my source codes.

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