FVD

System Features

• Collaborative mapping and localisation through information sharing
• Parallelising search using efficient Task Allocation
• Cooperative navigation and swarm intelligence
• Detect and report humans

MRSLAM

• Lidar “blowout” bug: solved by detecting blowout when laser readings are all bigger than a certain value, mitigated by restarting LRF module
• Spinning odometry bug: solved by making yaw range (-pi, pi] instead of [-pi, pi]

Perception

• Search behavior refinement
• Increase rotations for robustness
• Manual camera focusing pipeline

Task Generation

• Bug fixes for coverage task generation:
  • Sometimes redundant tasks still generated
  • Tasks sometimes not generated in small rooms, decreased minimum task size
• Visualization improvements
  • Task heatmap

Task Allocation

• Greedy/ Naive allocator does not explore the map fast enough (stays too close to the home for too long) -> wastes precious time
• Lack of big picture view leads to inefficient task allocation!
• Greedy/ Naive allocator wastes too much time in low information areas

Can we model information gain in the environment and exploit that to achieve better performance?

• Coverage Tasks which have been crossed before have low information
• Bigger frontiers have more information than smaller frontiers
• As search progresses information flows from frontiers to coverage tasks

NEW MORE OPTIMAL TASK ALLOCATOR !

HIGH (Hierarchical Information Gain Heuristic) Allocation

• Information-theoretic approach: task weight is encoded by its information gain
• Balances exploration vs exploitation with weights based on explored area 
• HIGH on average obtains a 16% better life score (sum of times) than Naive

Navigation

• Continued IRL testing + finetuning

Fleet Management System

• LEDs to indicate detected victim
• Bugfix: template not killed cleanly
• Bugfix: Agent bringup bad data

Simulation

• Setup Stage Sim with Pseudo-Apriltags to run experiments