Terrain Types

For the JRoboExplorerproject, the designer will provide two different classes of terrain (to fill in the T parameter of the GridWorld2d<T> interface and its concrete implementations):

IndoorTerrain

Indoor terrain tiles comprise two sub-types: IndoorFloor and IndoorWall. A Floor tile is an empty space that the AGENT can move through freely. Wall tiles are impenetrable: an AGENT cannot move into or through a Wall tile under any circumstances.

OutdoorTerrain

Outdoor terrain tiles comprise four different sub-types: OutdoorGrass, OutdoorBush, OutdoorMud, and OutdoorRock. The intuitive behvior of each is: AGENTs can move into or through Grass, Bush, or Mud, but cannot move into or through Rock. Grass is easy to move on/through. Bush is very hard to move into or to get out of once the AGENT is stuck in it. Mud is easy to move into, but is very slippery and may leave the AGENT facing an unexpected direction (i.e., may change its ORIENTATION in unexpected ways.)

The precise effect of each type of terrain on the agent dynamics is described in Section 5.3.2.