Progress Review 3

April 9, 2022 rachelzh
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Progress

Localization:

  • Extended localization to operate with multiple robots
    • Designed mount for LIDAR sensors to Kheperas
    • Adjusted architecture to support agent specific frames and transforms
  • Adjusted VICON test setup to get better ground truth
    • New localization performance: 5.88 cm RMS
  • Tested localization performance with 3 agents in system
    • Performance did not degrade: 5.02 cm RMS

Task Generation:

  • Added Manually generated tasks in RViz

Task Allocation:

  • Upgraded greedy task allocation to Multiple Traveling Salesman Problem (mTSP) formulation
    • Used constraint optimization library: Google OR-Tools
    • Set up as a mTSP and solved it as an optimization problem
  • Integrated allocator with the current system interest areas in the map on Rviz
    • Use GUI to manually specify
    • TA takes those points, makes a graph and uses the weighted graph to assign tasks
    • Every time the robot finishes a task, a new task is assigned

Path Planning:

  • Modular plug and play design -> allows debugging, reusability and future R&D
  • Separation of concerns between different modules also allowed easy work allocation and testing
  • Implemented prioritized A*

Fleet Management System:

  • Created ROS Service to post agent data on the service for any client / sub-systems to call it and access it
  • Bifurcated the communication into a service call and a ros topic which informs the other  subsystems of any change in robot status
  • Fixed some bugs in the bringup code
Progress
Progress