WifiBotST: Driving WifiBots with Smalltalk

About WifiBotST

As part of the VerySmallTalk project, we investigate control architectures for robots. One of our main application domain is robotic Urban Search And Rescue (USAR). Our goal is to have a fleet of mobile robots that will collaborate in order to autonomously explore some area. Currently, we experiment using a fleet of wifibots. We implemented in Smalltalk a framework that allows to both drive robots and build simulations. We first used Squeak, and switched since october 2008 to Pharo. Hopefully, we'll participate to the RoboCupRescue or a similar competition some time in the future.

Since february 2009, we started exploring the use of Player/Stage. We contribute to the PlayerST project a good complement to WifiBotST.

Download

Squeak code for both driving and simulating WifiBots

WifiBotST26-DemoLeaderAndFollowsers.zip. Introduce a demo with a leader and two followers (See Video).
wifiBotST22.zip. Enhances arena which now can be either open (i.e. a torus) or closed (as before). A third example (labelled open/close arena) was added.
wifiBotST20.zip. Provides two demos: One allowing to drive a robot using a Joystick and the second shows a group of robot exploring an arena.
You can download the latest version on Squeak Source http://www.squeaksource.com/WifiBot.html

Squeak VM for WifiBots

This VM does contain only a subsuet of Squeak plugins. Netwoking support is provided to allow running UbiquiTalk

squeak 3.9-8 mipsel.ipk
- Instal: ipkg install squeak_3.9-8_mipsel.ipk
- Uninstall: ipkg remove squeak
squeak-vm.zip : Same content as the IPK package but in a ZIP format. The install is not as clean as with IPK, still one can run Squeak.

MIT Licence

Copyright (c) 2008 - Noury Bouraqadi (Ecole des Mines de Douai, France - http:/vst.ensm-douai.fr/noury)

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

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Pictures and Videos last edited on 10 June 2009 at 12:11:06 am by dou59-1-82-238-53-31.fbx.proxad.net