In the provided code, the arbitration suggested by Jones, Flynn, and Seiger [2, pp. 306] is implemented in the classes ***SharedCar*** and ***Arbiter*** in the "reverse order" compared to the code presented by Jones et al.: The Arbiter goes through the list and for the first ***SharedCar*** whose ***CarCommand*** instance is not null, calls ***CarDriver***'s *perform()* method with the *SharedCar*'s ***CarCommand*** instance and reports the *SharedCar* as the winner. It then breaks the for loop and starts over with the *SharedCar array* from 0, thus always starting from the most competent behavior layer. The reason that this order is "reverse"; is that in the code presented by Jones et al., the arbiter goes through the behaviors in increasing order of competence, overruling the previous setting of the motor input.
In the provided code, the arbitration suggested by Jones, Flynn, and Seiger [2, pp. 306] is implemented in the classes ***SharedCar*** and ***Arbiter*** in the "reverse order" compared to the code presented by Jones et al.: The Arbiter goes through the list and for the first ***SharedCar*** whose ***CarCommand*** instance is not null, calls ***CarDriver***'s *perform()* method with the *SharedCar*'s ***CarCommand*** instance and reports the *SharedCar* as the winner. It then breaks the for loop and starts over with the *SharedCar array* from 0, thus always starting from the most competent behavior layer. The reason that this order is "reverse"; is that in the code presented by Jones et al., the arbiter goes through the behaviors in increasing order of competence, overruling the previous setting of the motor input.
TODO: Compare this with the arbiter of Fred Martin, [2, pp. 214-218].
Martin's arbiter [3, pp. 214-218] takes a third approach by keeping a list of priorities and a list of enabled/disables statuses (represented by the associated priority value for *enabled* vs. a 0 for *disabled*). Each behavior is in charge of enabling/disabling itself, and a ***prioritize()*** function continuously checks these lists and sets the motor power to values specified by the enabled behavior with the highest priority.
TODO: sig noget mere, eller er det her nok?
## Conclusion
## Conclusion
We managed to stay well within our allocated timeframe, spending only four hours in total on building and performing experiments. We attribute this to the nature of the exercises; this time the focus was mainly on observation and *understanding* the structure and implementation of the behavior control paradigm, rather than on making something function (such as trying to get the robot to balance on two wheels).
We managed to stay well within our allocated timeframe, spending only four hours in total on building and performing experiments. We attribute this to the nature of the exercises; this time the focus was mainly on observation and *understanding* the structure and implementation of the behavior control paradigm, rather than on making something function (such as trying to get the robot to balance on two wheels).
