Progress

FVD Encore

FVD Encore

New features: Ability to add an agent to the fleet mid-mission New and improved HIGH task allocation: HIGH2 Better task...

FVD

FVD

System Features Collaborative mapping and localisation through information sharing Parallelising search using efficient Task Allocation Cooperative navigation and swarm intelligence...

Progress Review 11

Progress Review 11

Fleet size: 5 robots!! Perception Perception subsystem is now integrated with rest of system Increased resolution  Cameras need to be...

Progress Review 10

Progress Review 10

MRSLAM Added check before correcting odometry with laser scan Added mutex’s to make algorithm multi-threading safe Adjusted raytrace behavior to...

Progress Review 9

Progress Review 9

MRSLAM Testing and tuning in real life Initial testing with 4 robots – identified initialization issue Modified Ray Casting behaviour...

Progress Review 8

Progress Review 8

GUI Mission control GUI implemented with PyQT5 Displays: Agent status: active, battery, feedback frequency, IP Task allocator visualization High-level system...

Progress Review 7

Progress Review 7

Project Management Schedule FVD scope Subsystem reorganizations, re-assigning subsystem leads Initial research on new features: Multi-robot SLAM Heterogeneous task allocation...

Progress Review 4

Progress Review 4

Localization Got agents to connect to CMU-DEVICE WiFi, enabling testing outside VICON area Borrowed WiFi router from lab to avoid...

Progress Review 3

Progress Review 3

Localization: Extended localization to operate with multiple robots Designed mount for LIDAR sensors to Kheperas Adjusted architecture to support agent...

Progress Review 2

Progress Review 2

Localization: VICON data was saved to rosbags and used to tune hyperparameters of SLAM Toolbox Single-robot localization is fairly robust ...