Team Paintball

1
Team Paintball

• Brian Oswald
• Ben Pease
• Jon Smith
• Stephen Ramusivich

2
Rules

• Health
• President Health
• HP150
• Bodyguard Health
• HP125
• Assassin Health
• HP125
• Speed
• President Speed
• Walking speed 75
• MaxRun Speed 150
• Bodyguard Speed
• Walking speed 75
• MaxRun Speed 125
• Assassin Speed
• Walking speed 75
• MaxRun Speed 100

• Weapons
• President Weapon
• Time before 5 sec
• ROF 2 sec
• Damage 2 hp
• Bodyguard Weapon
• Time before 4 sec
• ROF 1 sec
• Damage 10 hp
• Assassin Weapon
• Time before 3 sec
• ROF 1 sec
• Damage 15 hp

3
Progress

• Walking Straight
• Correction to make the aibo walk straight
• President behavior written
• Will avoid waypoints within a specified area of
  the last known assassin location
• Bodyguard behavior written

4
Progress (cont)

• Basic Message Structure
• "gamewhereCURR_XCURR_Y"
• Aibo asks the sever what to do based on the
  current x and y coordinates
• "gamegoXYSPEED"
• Server tells the aibo to go to the updated x and
  y coordinates. Aibo determines how to get there.
• Aibo/Server Communication
• Aibo parsing and sending messages

5
Progress (cont)

• Server Classes
• Read in a file the represents the map for easy
  modification
• Stores the waypoints of the map for Dijkstras
  shortest path algorithm
• Dijkstras
• Will find the shortest path between any two
  nodes
• Move the president to the goal
• Move the assassin to president, once president is
  seen
• Place bodyguard between the assassin and the
  president, once assassin is seen

6
Future Progress

• Define map and waypoints
• If the president is in a danger zone, have to
  realize this and leave
• Random node selection for assassin movement
• Have the president pan head and check for danger
• Take IR readings and determine where the aibo is
  more precisely in the map

7
Future Progress (cont)

• Begin assassin behavior
• Finish determining what config variables the
  server needs to tell the aibo
• Tweak server start/stop/restart clean up
  sockets after disconnect
• Angle and distance calibration
• Have aibo only send vision events to the server
  every second

8
Possible Map
Finish
Start