A Collecting Robot in Simulation

•The robots in BSim are circular differential drive robots with a bumper, two IR proximity sensors, two photo sensors and wheel encoders. The photo and IR sensors face diagonally from the front of the robot at 45 degree angles. •Each robot supports a simple, yet powerful, behavior-based programming system which includes a set of primitive behaviors and a priority list arbiter. •A robot's program is called a task. A task is a prioritized list of behaviors which all simultaneously compete to control the robot. • The arbiter chooses which behavior is successful. You can program each robot by configuring a set of behaviors, prioritizing the behaviors for the arbiter, and then loading the behaviors into the robot.