|CSCI 4190: Introduction to Robotic Algorithms, Spring 2006|
Note that I've made the radius of the robot in these problem files smaller (0.2 meters) than in the problem file in the support code. This is (approximately) the radius of the MagellanPro robot that you'll be using, by the way.
The 2/7 update is a bug fix: only one line of the input.h file was changed, and this should prevent the runtime error some of you have been seeing under windows. You can just replace that file, but the zip archive has been updated too.
The [2/1] update is not essential — the main change is that a Vertex_const_iterator was added to the Polygon class. There was already a Vertex_iterator, so this is not strictly necessary, but if you are passing const references (as you should!), then this is useful. Instead of entirely reinstalling dolt-lite, you can just replace the file geometry.h as that is where the changes are. There are a few other minor changes, e.g. visual studio project files added for the test program, minor updates to the unix configure script, etc.
Any late papers should be turned into the CS main office (Lally 207) to be put in Prof. Huang's mailbox.
You will need this information for the first question anyway.
For worlds 2 through 5 (the second one i gave you and your three worlds), run your program to plan a path for the robot, both for random and quasirandom sampling. Determine reasonably small values for N and k for which you can find a path. (They need not be the absolute smallest, but you should try to find small values.) For random sampling, these values should be able to produce a path at least 3 out of 4 attempts.
Turn in a table that shows, for each world and for each sampling method:
For random sampling, you should report average values over 3 or more trials. (Specify how many trials.)
How did you determine values for N and k? Can you suggest a general rule for selecting values? You might suggest certain fixed values if they work well, but otherwise, is there some approach to picking values as a function of some simple properties of the world?
Explain why your suggestions are good ideas.
Do not include any executable or object files!!! Your archive file should then be fairly small, like under 20 KB. We'll probably just delete any archive file that is larger than that.