Implementing HIVEMind on Flex Bot Aaron Khoo Nick

Implementing HIVEMind on Flex. Bot Aaron Khoo & Nick Trienens Northwestern University HIVEMind Example 1: Pack. Hunter Overview • Team-based deathmatch half-life bots. • Highly Interconnected Very Efficient Mind • Dynamic team formation and leader selection. • Efficient control architecture for multirobot systems operating in real-time environments. • Real-time response to observations by team members. • Any attack on one team member is immediately known by all teammates. • Originally developed for physical robots. • Two new movement behaviors: Leader and Pack Implementation • Duck and Shoot behaviors also modified to account for team behavior. • Bot control programs are behavior-based and obey circuit semantics. • Team members communicate through “virtual wires” connecting appropriate parts of control circuitry. • Two implementations on Flex. Bot: Pack. Hunter & Hunter-Runner. Characteristics • O(1) time updated shared situational awareness. • Cheap communication mechanism. • Dynamic addition and subtraction of team members. Example 2: Hunter-Runner • 2 -4 Hunters track down Runner in a known map. Possibly multiple exit points on map. • When Runner is trapped, all remaining Hunters are summoned to the Runner’s location. Only when all Hunters see the Runner will they open fire. • Search algorithm is based on levels of a graph with root nodes at the exit points. • Figure on the right shows part of control circuitry for a Hunter. • We have tested this system extensively on two different maps. In all our trials, the Runner never got past the Hunters.