Programming Smart Agents
Abstract
Programming lies at the heart of intelligent robotics, and modern robotic systems are extremely dependent on software to make sense of sensory input from the outside world, make decisions, and drive motors. Typically, these activities are performed using modular code architecture connected by a middleware layer such as ROS 2 so that disparate parts of the system can communicate with one another. Concepts from programming languages are taught through the lens of Python, illustrating how robots can sense their environment, compute control commands, and perform actions. Topics covered in this chapter will show students how to create reactive robot behaviours that adapt to their surroundings. Fundamental programming concepts such as storing information in variables, making decisions with conditionals and loops, and using functions to write reusable code blocks are reviewed. Topics related to representing and sharing data, especially between concurrent processes like the ones found on robots, are also discussed. Students will gain hands-on experience with how robots perceive their environment and make decisions to follow a line using code to connect sensing, logic, and actuation. Key concepts such as writing modular, readable, and testable code are stressed. Debugging techniques are also demonstrated.
