Progress Review 2

April 9, 2022 rachelzh
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Progress

Localization:

  • VICON data was saved to rosbags and used to tune hyperparameters of SLAM Toolbox
  • Single-robot localization is fairly robust 
  • RMS error for the position was approximately equal to 10 cm after one run

Task Generation:

  • Given a map of environment, finding large clearings for agents to explore
  • Green points in image are points of interest
  • Task generator has good coverage of the map
  • Simulated in VICON map and Willow map

Task Allocation:

  • Built graph between generated nodes with A* path length as edge weight
  • Online greedy assignment
  • Scalable design
  • Simulated in Vicon map and Willow map

Simulation:

  • Performed a trade study for multi robot simulators
  • Setup a multi robot simulator with ROS stage
  • Integrated move_base with each robot

Progress
Progress