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##Autonomous systems course

This code was created in order to allow for experimentation, towards developing specific modules of an autonomous simulated vehicle that performs full exploration and coverage of an unknown a priori environment. Next, you can find instructions on how to setup the code in your PC / laptop, the description of the code, as well as the challenges.

The perfect score is 100 points, but if you do your best you can reach 150!

• Installation / setup
• Modules description
• How to execute the code
• Part 1 - Obstacle avoidance / random wandering (50 pts)
  • Challenge 1 [15 pts]: Obstacle avoidance using the sonars sensors
  • Challenge 2 [15 pts]: Obstacle avoidance using the laser sensor
  • Challenge 3 [10 pts]: Obstacle avoidance using sonar and laser sensors via a subsumption architecture
  • Challenge 4 [10 pts]: Obstacle avoidance using sonar and laser sensors via a motor schema architecture
• Part 2 - Full exploration of an unknown environment (50 pts)
  • Challenge 5 [5 pts]: Publish the robot path
  • Challenge 6 [10 pts]: Update the coverage field
  • Challenge 7 [15 pts]: Calculate velocities towards path traversing
  • Challenge 8 [10 pts]: Calculate velocities towards path traversing, including the sonars and the laser measurements via a subsumption architecture
  • Challenge 9 [10 pts]: Calculate velocities towards path traversing, including the sonars and the laser measurements via a motor schema architecture
• Part 3 - Extra points (50 pts)
  • Challenge 10 [5 pts]: Improve the subgoal visitation check
  • Challenge 11 [10 pts]: Create a smart target selection technique
  • Challenge 12 [10 pts]: Improve the A* algorithm's efficiency
  • Challenge 13 [up to 25 pts]: Surprise us!