Using the e-puck robot model of the Webots robot simulator, implement the following autonomous robots. To implement them, you are welcome to either use the simple robot controller provided in the practical sessions as a model that you can modify and complexify to create your robots, or to design a new controller from scratch. Please state clearly in your report which option you have chosen.

1) Implement a wall following robot using a subsumption architecture. Your environment should be surrounded by a wall.

2) Implement a wall following robot using an emergent behavior model. Your environment should be surrounded by a wall.

3) Implement an obstacle avoidance robot using a simple neural network controller. Your environment should be surrounded by a wall and also contain elements that your robot should avoid – we will call them “obstacles”. These “obstacles” could be for example solid objects, points of light, or other elements of your choice.

4) Implement a garbage collection robot. For this, you can use the controller of your choice. Your environment should be surrounded by a wall and also contain obstacles and other objects to be used as “garbage”. The robot must move the “garbage” scattered around the environment to a specific place, e.g., by the wall, inside a spotlight, inside a small area of the arena.