>xabsl 2
Behavior Documentation


>Index
>Agents
>Symbols
>Basic Behaviors
>Options
   >>  track-ball
        >>>  other-modes
        >>>  ball-seen
        >>>  return-to-ball
        >>>  directed-scan-away-from-ball
        >>>  scan-back-to-ball
        >>>  ball-just-lost
        >>>  ball-lost
        >>>  ball-found-again

Option track-ball

The state machine for the ball tracking movements

State Machine

This browser can't display the SVG file svg/option_track-ball.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html

State other-modes

If that state is active,
 >  The option other-head-movement is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_track-ball_state_other-modes.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (ball.time-since-last-seen < 1000)   // ball seen by chance in the last second
{
  
transition-to-state(scan-back-to-ball);
}
else
{
  
transition-to-state(ball-lost);
}

State ball-seen

If that state is active,
 >  The basic behavior look-at-ball-and-closest-landmark is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_track-ball_state_ball-seen.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (
(ball.time-since-last-seen > time-after-which-is-considered-lost)
&& 
(ball.seen.distance < 500)
)   // ball lost near
{
  
transition-to-state(ball-just-lost);
}
else if (
(ball.time-since-last-seen > (time-after-which-is-considered-lost * 1.5))
&& 
(ball.seen.distance > 500)
)   // ball lost far
{
  
transition-to-state(ball-lost);
}
else if (head-control-mode == search-auto)   // head control mode is searchAuto
{
  
if (
(time-of-state-execution > 1000)
&& 
(ball.consecutive-seen-time > 1000)
&& 
(ball.time-since-last-seen-consecutively < 300)
&& 
(ball.relative-speed-x > -300)
&& 
(ball.seen.distance > 1200)
)   // Ball was seen consecutively for 500 ms
{
  
transition-to-state(directed-scan-away-from-ball);
}
else if (
(time-of-option-execution > 2000)
&& 
(ball.time-since-last-seen < 300)
&& 
(ball.seen.distance > 800)
&& 
(ball.consecutive-seen-time > 2000)
&& 
(ball.time-since-last-seen-consecutively < 500)
&& 
(ball.relative-speed-x > 300)
)   // ball rolls off
{
  
transition-to-state(directed-scan-away-from-ball);
}
else if (
(time-between-last-beacons > 8000)
&& 
(ball.relative-speed-x > -200)
)   // ball is near but roboter hasnt seen two diffrent beacons for long
{
  
transition-to-state(directed-scan-away-from-ball);
}
else if (
(time-since-last-seen-beacon > 5000)
&& 
(ball.relative-speed-x > -200)
)   // ball is near but roboter hasnt seen any beacon
{
  
transition-to-state(directed-scan-away-from-ball);
}
else if (
((time-since-last-seen-beacon / 3000) > 3)
&& 
(time-since-last-seen-beacon > 10000)
)   // ball is near but roboter hasnt seen any beacon for long
{
  
transition-to-state(directed-scan-away-from-ball);
}
else
{
  
transition-to-state(ball-seen);
}
}
else
{
  
transition-to-state(ball-seen);
}

State return-to-ball

If that state is active,
 >  The basic behavior return-to-ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_track-ball_state_return-to-ball.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (ball.time-since-last-seen < 250)   // ball found again
{
  
transition-to-state(ball-found-again);
}
else if (
(time-of-state-execution > 1000)
|| 
(set-joints-is-close-to-destination)
)   // After 1 sec
{
  
transition-to-state(ball-lost);
}
else
{
  
transition-to-state(return-to-ball);
}

State directed-scan-away-from-ball

If that state is active,
 >  The basic behavior directed-scan-for-landmarks is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_track-ball_state_directed-scan-away-from-ball.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (head-control-mode == search-for-ball)   // head control mode is searchForBall
{
  
transition-to-state(return-to-ball);
}
else if (
(time-of-state-execution > 800)
|| 
(set-joints-max-pan-reached)
|| 
(
!(next-landmark-is-within-reach)
)
)   // if robot has looked away from the ball for some time
{
  
transition-to-state(scan-back-to-ball);
}
else
{
  
transition-to-state(directed-scan-away-from-ball);
}

State scan-back-to-ball

If that state is active,
 >  The basic behavior scan-back-to-ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_track-ball_state_scan-back-to-ball.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (ball.time-since-last-seen < 250)   // ball found again
{
  
transition-to-state(ball-found-again);
}
else if (head-control-mode == search-for-ball)   // head control mode is searchForBall
{
  
transition-to-state(return-to-ball);
}
else if (
(ball.time-since-last-seen > 1000)
|| 
(set-joints-is-close-to-destination)
)   // No ball was found
{
  
transition-to-state(ball-lost);
}
else
{
  
transition-to-state(scan-back-to-ball);
}

State ball-just-lost

If that state is active,
 >  The basic behavior look-around-at-seen-ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_track-ball_state_ball-just-lost.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (ball.time-since-last-seen < 160)   // ball found again
{
  
transition-to-state(ball-found-again);
}
else if (time-of-state-execution > 450)   // ball was not found
{
  
transition-to-state(ball-lost);
}
else
{
  
transition-to-state(ball-just-lost);
}

State ball-lost

If that state is active,
 >  The basic behavior find-ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_track-ball_state_ball-lost.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (ball.time-since-last-seen < 250)   // ball found again
{
  
transition-to-state(ball-found-again);
}
else
{
  
transition-to-state(ball-lost);
}

State ball-found-again

If that state is active,
 >  The basic behavior look-at-ball is executed.
 
The decision tree:
  This browser can't display the SVG file svg/option_track-ball_state_ball-found-again.svg.



The Adobe SVG Viewer 3.0 can be downloaded from http://www.adobe.com/svg/viewer/install/main.html
 
Pseudo code of the decision tree:
 
if (ball.time-since-last-seen > (time-after-which-is-considered-lost * 1.5))   // ball lost
{
  
transition-to-state(ball-lost);
}
else if (time-of-state-execution > 500)   // after 500 ms
{
  
transition-to-state(ball-seen);
}
else
{
  
transition-to-state(ball-found-again);
}