Aspirobot

Aspirobot is a simple® AI agent that vaccums dust in your rooms but pick up your jewels.

Build

• Command line

  cd uqac-ia-aspirobot
  dotnet restore
  dotnet build
  dotnet run
  

• Visual Studio
  Run VS, open solution, wait for package restore, click run (F5)

• Rider
  Run Rider, open solution, wait for package restore, click run (Shift + F10)

Configuration

Some behaviors can be configured in Program.cs file:

• EnvConfig (Environment configuration)

  • Height: Map height
  • Width: Map width
  • ActionPropability: Probability that an action occurs in the enviromnent, once per EnvConfig.SleepTime (>=0, <=100)
  • AddDustProbability: Probability that a dust is added on the map, only when an action is to be taken (>=0, <=100)
  • RemoveJewelProbability: Probability that a jewel is removed from the map, only when an action is to be taken, and EnvConfig.AddDustProbability does not occur (>=0, <=100)
  • AddJewelProbability: Probability that a jewel is added on the map, only when an action is to be taken, and neither EnvConfig.AddDustProbability nor EnvConfig.RemoveJewelProbability occur (>=0, <=100)
  • SleepTime: Time between each iteration in ms (>=0)
    

• AgConfig (Agent configuration)

  • SleepTime: Time between each iteration in ms (>=0)
  • StartX: Agent start X position (>=0, <EnvConfig.Width)
  • StartY: Agent start Y position (>=0, <EnvConfig.Height)
  • AutoAdjustThinkTimeInterval: Indicate if agent should try to auto adjust think time interval (AgConfig.ThinkTimeInterval)
  • ThinkTimeInterval: Default think time interval in ms (>=0). This variable controls how often the agent will re-evaluate the situation
  • LowPerfomance: Value that indicate when the performance should be considered as too low. If current performance is less or equal, the agent will bypass AgConfig.ThinkTimeInterval and re-evaluate the situation anyway
    

How it works

Agent will loop forever (until killed) peforming the following operations:

• Environment update: this action will force all sensors to update their data, so that the environment can be updated.
  • In the FakeEnv implementation, the environment update itself from remote virtual environment, so the sensors updates do nothing.
  • In a real robot implementation, the update methods of sensors would gather data and push them to the environment.
• UI update: this will update the user interface.
  • In the FakeEnv implementation, it draw in the standard output.
  • In a real robot implementation, it would either do nothing, or update a web interface (for example)
• Internal state update: Prepare internal state to be able to choose an action to do.
• Choose an action: Choose the most appropriate action to do by analysing the gathered data and current internal state.
• Act: Execute choosen action (go to room, vaccum, pick)
• Sleep: Sleep for AgConfig.SleepTimems

FakeEnv implementation will loop forever (until killed) peforming the following operations:

• Sleep: Sleep for EnvConfig.SleepTimems
• May do something: Randomly choose to do something or not using EnvConfig.ActionPropability
  • May add dust on a random location: Randomly choose to do it or not using EnvConfig.AddDustProbability
  • May remove a jewel from the first room that contains a jewel: Randomly choose to do it or not using EnvConfig.RemoveJewelProbability. Can only happen if no previous action has been done.
  • May add a jewel on a random location: Randomly choose to do it or not using EnvConfig.AddJewelProbability. Can only happen if no previous action has been done.

Code

This agent is coded in .NET Core (C#) using DI (Dependency Injection) and interfaces to abstract implementation and allow to run a virtual environment or a real one without changing anything in the agent implementation

FakeEnv implementation starts one thread for the environment and another one for the agent.

Agent logic is in Agent/*.cs
Agent sensors and effectors interfaces are in Agent/Interfaces/*
Agent sensors that do not directly rely on physical sensors are in Agent/Sensors/*.cs
Agent FakeEnv client implementation is in Agent/FakeEnv/*
FakeEnv client, server, protocol and configuration are defined in Common/*.cs
FakeEnv server implementation is in Environment/*.cs
Some helper methods are defined in Extensions/Extensions.cs
Shared interfaces are in Interfaces/*.cs
Console user interface is in UI/UiConsole.cs