Introduction to Artificial Intelligence Assignment

Write Java program that solves problem according to Behavior Tree.

PROBLEM SET: BEHAVIOR TREES

Roomba's roaming

This new type of Roomba has very simple reflex rules. It will always check the battery level first. If the level is below 30%, it will plan a path to its charging base ("home"), go there, and start the docking procedure. If the battery is at a sufficient level, it will start the function it was commanded to perform. The available commands are:

1. Spot cleaning: it will perform a 20s intensive cleaning in a specific area

2. General cleaning: go around the room and vacuum dust until the battery falls under 30%

3. Do nothing

During general cleaning, if the dust sensor detects a particularly dirty spot, the Roomba will perform a 35s spot cleaning.

The goal of this problem set is to implement the provided behavior tree. As we talked about in class, trees can be represented with concatenated IF-THEN-ELSE rules. Trees can also be implemented through a standard recursive node definition.

Your implementation should accept a blackboard object as input (a regular hash map or dictionary). The blackboard contains the following elements:

1. BATTERY_LEVEL: an integer number between 0 and 100

2. SPOT: a Boolean value - TRUE if the command was requested, FALSE otherwise

3. GENERAL: a Boolean value - TRUE if the command was requested, FALSE otherwise

4. DUSTY_SPOT: a Boolean value - TRUE if the sensor detected a dusty spot during the cycle, FALSE otherwise

5. HOME_PATH: The path to the docking station

SPOT and GENERAL should not change until the command has been completed. The tree evaluation is called several times, each time simulates a 1s interval. Certain tasks should return RUNNING if they have not completed the job yet, and last for the specified number of cycles (20 cycles, or 35 cycles).

Except for DONE GENERAL and DONE SPOT, none of the other tasks will need to be implemented as printing a string with the name of the task and the state (SUCCEEDED, FAILED, RUNNING) will be sufficient. DONE GENERAL and DONE SPOT will set to FALSE the corresponding values in the blackboard.

Attachment:- Assignment File.rar