Ruben Vuittonet
Jeff Gray
ABSTRACT
The Lego Mindstorms Robot Command eXplorer (RCX) is a popular robotics kit that provides an opportunity to explore embedded software control. The limitations of the RCX provide a direct challenge that is typical of real-world embedded system development. This poster summary describes the Java-based development of a set of robots that coordinate to play the game of tic-tac-toe. Three key challenges were investigated in the project: 1) recognition of the state of the game board, 2) computation of the next-move within a reasonable timeframe using robots working in parallel, and 3) navigating a robot to the proper board location to mark the desired move. Game board analysis takes the form of a robot that performs optical scanning. A min-max tree algorithm was implemented in the primary control robot to determine the next best move. Specialized components affect the physical movement of the robots and mark the appropriate tic-tac-toe cell.
- Ferrari, Giulio, et al. Programming LEGO Mindstorms with Java. Syngress Publishing, Incorporated, Rockland, MA, 2002. Google Scholar
Digital Library
- "Embedded Systems." Available at http://en.wikipedia.org/wiki/Embedded systemGoogle Scholar
- Lee, E., "What's Ahead for Embedded Software?" IEEE Computer, September 2000, pp. 18--26. Google ScholarDigital Library
- Shannon, C. E., "Programming a Computer for Playing Chess," Philosophical Magazine 41, 1950, pp. 256--275.Google ScholarCross Ref
- Simon, D., An Embedded Software Primer, Addison-Wesley, 1999. Google ScholarDigital Library
Index Terms
- Tic-Tac-LEGO: an investigation into coordinated robotic control
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