One of the biggest challenges facing robots is the decision to go over or around an object.  The robots on Mars have significant programming devoted to this issue.  The autonomous cars in the DARPA cross country and urban competitions have to process their sensor data and make the decision.  Our robots in Botball 2008 need to consider this same issue.

To get over a pipe in Botball requires a special wheel structure. Multiple wheels, large wheels, treads, and ramps are possible solutions to the issue. There are advantages to going over and there are advantages to going around.  It depends on the situation.  Our teams must make a strategic decision as to whether they are even going to try to go over.

Here is an interesting discussion on the topic.

Here are some robots that address the issue.  Look at the wheel configurations.

Here are some ideas that came up at our recent project meeting.