Before I can ever get to full 3D construction, robots need to be able to know
when they can/cannot place a ramp block on a given cell. Right now, the
preconditions are such that a ramp block can and will be placed anywhere a cube
block can, which is incorrect.
I would rather not rely on structure query to say "what should go here?", and
instead adopt a stygmergic approach where different states the robot discovers
the in-progress structure in will enable/disable certain placement behaviors.
However, this stygmergic approach will also not allow robots to create anything
other than smooth structures (i.e. no irregularities which can be handled by
topological constraints). This can be refined/expanded to maybe use structure
query as an option in the future, where robots know the full spec of the
structure they are building, and/or maintain a map of the in progress structure
as they discover it.
Stygmergically ramp blocks can only be placed:
Level 0 if the are at the boundary of the ingress/egress face (robot's WILL
have to know the orientation, bounding boxsize, and anchor point of the
structure they are building)
Higher levels if the robot encounters a smooth back face of the construction
lane AND placing a ramp block in a given cell would result in a continuation
of the smooth ramp at level Z - 1.
As part of this, I will need to handle:
Robots picking up a ramp block, allocating a lane, only to find there is
nowhere in that lane that the block can currently be placed. They will need to
abort their placement via an event (which needs to be tracked via metrics so I
can know how much work is being "wasted").
Before I can ever get to full 3D construction, robots need to be able to know when they can/cannot place a ramp block on a given cell. Right now, the preconditions are such that a ramp block can and will be placed anywhere a cube block can, which is incorrect.
I would rather not rely on structure query to say "what should go here?", and instead adopt a stygmergic approach where different states the robot discovers the in-progress structure in will enable/disable certain placement behaviors. However, this stygmergic approach will also not allow robots to create anything other than smooth structures (i.e. no irregularities which can be handled by topological constraints). This can be refined/expanded to maybe use structure query as an option in the future, where robots know the full spec of the structure they are building, and/or maintain a map of the in progress structure as they discover it.
Stygmergically ramp blocks can only be placed:
As part of this, I will need to handle: