FVD Encore

December 9, 2022 rachelzh
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Progress

New features:

  • Ability to add an agent to the fleet mid-mission
  • New and improved HIGH task allocation: HIGH2
    • Better task sampling
    • Better objective weights
    • Quadratic decay exploration-exploitation weight -> linear
    • Fix for immortal frontiers
    • Greedy -> Optimal assignment via Hungarian algorithm
  • Robust bad sensor data filtering
  • Better multi robot control in narrow corridors

New demos:

  1. New HIGH Task Allocation
  2. Fleet Addition + Random Victim Locations

We showed:

  • How does our improved HIGH TA perform?
  • Can our system handle changing fleet sizes?
  • How does our system handle different environments?

Progress