UFLibrary_v1.0.1: Tutorial and Reference Manual
This is the official web page for the UFLibrary, written by Mattias Wahde and Jimmy Pettersson. The UFlibrary implements the UF method for behavioral organization (selection) in autonomous robots. Version 1.0.1 of the library and the accompanying files (tutorial and reference manual) were released on 2005-05-28. The UFLibrary may be used free of charge for academic applications. Commercial users should contact Mattias Wahde.
The UFLibrary, as well as a tutorial containing two sample applications, can be downloaded below. Note that the UFLibrary is written for Delphi object-oriented pascal. Thus, in order to write and compile new applications, you must have Delphi installed on the computer. The source code for the tutorial is provided for Delphi versions 5 and 6.
Downloadable files:
For users of Delphi5: UFLibrary_v1.0.1_Tutorial_Delphi5.zip
For users of Delphi6: UFLibrary_v1.0.1_Tutorial_Delphi6.zip
Each folder contains two simple examples of source code based on the UFLibrary (see figures and movie below), as well as a 30-page tutorial document in PDF format. Screenshots from the two application examples are shown below. In addition to the tutorial, a reference manual (in HTML format) for the UFLibrary is available as well. The reference manual can be downloaded as a zip archive as well: UFLibrary_v1.0.1_ReferenceManual.zip (extract the zip archive, and open the index.html file).
Left panel: A Screenshot from the circular navigation (basic demo) example, located in the BasicDemo folder.
Right panel: A Screenshot from the simple navigation example, located in the SimpleNavigation folder.
NOTE! A run from the simple navigation example is also available as a movie: SimpleNavigation_DemoMovie.avi (requires the XViD Mpeg-4 Codec).
If you have any questions concerning the UFLibrary, or wish to report a bug or a misprint, please contact Mattias Wahde.
Known bugs and problems:
UFLibrary has been tested on computers with several different graphics cards. The library works well on computers using an nVidia graphics card. However, users with ATI Radeon graphics cards may encounter problems. For now, we recommend using a computer with an nVidia graphics card.
Note: In case you do not have access to Delphi, you can, upon request, receive the stand-alone executable files (which do not require Delphi to run). It is also possible to download only the tutorial document (i.e. without source code): UFLibrary_v1.0.1_Tutorial.pdf
Last update: 2005-05-31
Mattias Wahde