The learning outcomes that are assessed by this coursework are: 1. Demonstrate a systematic and comprehensive understanding of key aspects and underlying concepts and principles by applying these designing and deploying autonomous mobile robot controllers capable of solving complex predefined tasks. 2. Present and communicate own design choices by devising and sustaining arguments relating to current research in these fields. 3. Demonstrate detailed knowledge and understanding of the theory of mobile robotics, including hardware and software factors of sensor design, software issues of a range of controlling architectures and some advanced aspects such as adaptive and group behaviour. (partially only) Your task is to write a program for the PeopleBot robot on the MobileSim simulator to demonstrate the following behaviours using a behavioural control architecture of your choice: 1. Obstacle avoidance: The robot should avoid all obstacles and not come within 0.1m of any obstacle. 2. Wandering: When no walls are detected the robot should move for a randomly chosen distance between 0.5m and 1.5m at a constant speed 0.5m/s, and then turn in a random direction by a randomly chosen angle between 20 and 160. Completing behaviours 1 & 2 to a satisfactory standard you can only earn you a pass mark. To get a higher grade you will need to complete one of the following more advanced behaviours: 3. Edge Following: The robot should attempt to follow any wall edges detected within 1.0m at a constant distance of 0.5m. This behaviour should make use of an appropriate feedback control methodology. 4. Mapping: The robot should either:  Record a map of some kind, constructed using at least the last 500 VALID pieces of mapping data in a text file. It should be possible to view the saved map.  Transmit all the VALID mapping data to a client via TCP/IP. It should be possible to view the map as it is constructed in real-time. Once you have finished your controller you will need to design and carry out a series of experiments to assess the performance of you robot controller. You may make use of the Aria library and any visualisation libraries you wish. Deliverables: a) A report of no more than 12 sides of A4 to include the following:  Background with a brief literature review  Architecture design  Behaviour design  Experimental Design (to test performance of behaviours)  Results  Conclusion b) A file or collection of files containing the code that implements the required behaviours. You may have to demonstrate your controller to the tutor at a date to be confirmed with the tutor, the date will be between the 2 nd and 13th of Feb. The report must be submitted via the view/complete link under Coursework Submission on BlackBoard, this link closes at 4.00pm on the 30th of January.