ONA controlling SpongeBot

Step1: Learn collision avoidance by a goal to avoid low ultrasonic sensor readings:

https://www.youtube.com/watch?v=k-yfYmmdU7k

Setup:

Sensors: Ultrasonic sensor

Actuators: 2 motors for moving left, right and forward

Software: ONA controlling the NXT brick via nxt-python library.

Step2: Use learned exploration behavior to accomplish a more complex mission specified by some background knowledge:

https://www.youtube.com/watch?v=7ZrmIokCm00

Setup:

Sensors: Ultrasonic sensor, camera via attached smartphone as IPCam

Actuators: As before, plus a gripper allowing the robot to pick and drop objects.

Software: As before, plus a vision channel based on YOLOv4-tiny via the Darknet implementation, which would potentially also run fast

enough to let the entire solution run on the attached smartphone directly.