AquaJim FSM

Robot intelligence is controlled using Finite State Machines. You will find on this page a render of FSM used in AquaJim, the robot for Eurobot 2009.

You may need to read source code in order to make sense out of some obscure state names :).

For more general information on Artificial intelligence in APBTeam robot, please see the general artificial intelligence page.

• Top FSM: coordinator of other FSM
• Cylinder FSM: handling front cylinder rotation and puck loading
• Filter bridge FSM: moving pucks from cylinder to elevator
• Elevator FSM: handling elevator and puck unloading
• Move FSM: handling movements and obstacle avoidance
• Initialisation FSM: handling the start procedure