HW3: Extending an Agent

For homework 3 I would like you to extend Agent 3 or Agent 4 so that it employs more complex steering behavior.

Minimally, I would like you to implement two new behaviors:

• Rotate to discover new targets when none are currently in the field of view.
• Maintain the agent's "personal space". When other agents come in very close contact with your agent, move away to maintain breathing room. This can be implemented either by checking distance or detecting collisions and moving away. (remember classify-seperation in Agent 4?)

Some other possible behaviors you could implement include:

• Listen for sounds to find a target
• Avoid pits/walls/other environmental hazards

Here are some references:

• Gamebots Predicates
• Gamebots Network API
• Reynolds, C. Steering behaviors for autonomous characters.
• Murphy, R. et al. An explicit path planner to facilitate reactive control and terrain preferences.

Tips:

1. If you're getting the following error when you try to convert your agent:

   Error: `nil' is not of the expected type `number'"

   Make sure all the <<rule>> elements in your model have non-empty documentation (right click > open specification > Documentation)

2. Don't use additional forks in a control structure. While the idea is sound, the translation into Lisp has not been written to manage this style of representation.
3. Don't use additional forks in sensor, deliberator, or effector statecharts. While the idea is sound, the translation into Lisp has not been written to manage this style of representation.
4. Never have more than 1 transition between states in a sensor, deliberator, or effector statechart. While the idea is sound, the translation into Lisp has not been written to manage this style of representation.
5. [removed]
6. Remember, every rule needs a consequent. ie. If you wanted a rule that just checks to see if a target is visible, do something like this...

   If guard:
   (target ?t ?a)
      
   Then action:
   (target-noticed yes)

   Of course, you're free to ignore the assertion in subsequent control structure elements.

7. Remember, functions are not the same thing as predicates. ie. Don't try to assert a (func foo ?a ?b ?c ?return).
8. The lisp evaluator is not used to reduce patterns. In other words, don't try to assert something like...

   Then action:
   (runto-location (+ ?x 5) (+ ?y 5) ?z 1))
      
   This will just assert into percepts a patterns with sub-lists in which all 
   variables have been instantiated with the values in bindings...
      
   (runto-location (+ 200 5) (+ 105 5) 80 1))

9. Don't assert a primitive predicate with an illegal arity; the system will be deeply confused. ie. Don't assert (runto-location ?predicted-xyz-list 1), this would be a runto-location with arity 2 when the expected runto-location has arity 4.