PR 9 Goals

• autonomous docking w/ varying planar orientations
  • entrapment detection
    • installation of the Vive
    • update the entrapment detector —> holding entrapped state if stopped afterwards until it moves again
  • path planning w/ planar orientation
  • precise motion control considering location and planar orientation
• consistent towing in high-centered case
  • autonomous docking
  • (collaborative) towing planning
  • execution of the (collaborative) towing plan

PR 10 Goals

• Transfer of pose info from front looking to rare-looking sensors
  • docking mechanism relative pose estimation
• Demonstrate operation of claw arm (along with docking)
  • claw manipulator assembling
  • precise control of the claw manipulator
  • planning for claw manipulator
• repeat/refine consistent towing in high-centered case