Fall Validation Demonstration
Main Objective: Achieving coordination, cooperation, and information sharing amongst multiple robots to minimize the time taken to find locations of humans ( dummied by AprilTags) in an indoor environment to aid the search & rescue operation
Sub-objectives :
- Parallelising search in the indoor environment using efficient task allocation.
- Collaborative exploration and mapping of the indoor environment and localization in it using information sharing amongst multiple robots.
- Cooperative navigation in the environment using a centralized multi-robot controller.
- Detection and reporting of AprilTags in the environment.
- Visualizing locations, state of the system, and system commands on the server for the operators.
- Intelligent exploration-exploitation trade-off to minimize the time taken to find all apriltags.
Personnel and roles:
- Naren Sriram: Presenter
- Charvi Gupta : Mission Control operator
- Jaekyung Song : Presenter
- Indraneel Patil: Crowd control
- Rachel Zheng: Presentor
Equipment List:
- 5 robots + LRFs
- WiFi router
- Server computer
- Hazard cones and obstacles
- Apriltags
Location: Locker area outside AI maker space, Tepper 1st floor
| Demonstrations : | 1 : Search & Rescue with a naive exploration-exploitation trade off | 2: Search & Rescue with an intelligent exploration-exploitation trade off |
| Procedure : | Robots will be placed at home and they will be expected to complete the whole operation autonomously, operation ends when all AprilTags are found and a search score is calculated | Same as demo 1 but the search score is expected to significantly improve in demonstration 2 |
| Success Criteria | Validation Method |
| M.F.0. System shall identify and localize victims in environment using fiducial markers within desired rescue time | Victim location will be displayed on RVIZ. |
| M.P.0. System will detect 75% of victims in the environment. | Count of victims localized will be updated on the GUI |
| M.P.1. System will localize victim positions within 5 m. | The location of the victim is indicated by reported agent pose when victim was found |