{"id":266,"date":"2022-02-24T21:17:14","date_gmt":"2022-02-24T21:17:14","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/?p=266"},"modified":"2022-12-09T06:27:28","modified_gmt":"2022-12-09T06:27:28","slug":"fall-validation-demonstration","status":"publish","type":"post","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/02\/24\/fall-validation-demonstration\/","title":{"rendered":"Fall Validation Demonstration"},"content":{"rendered":"<p><b>Main Objective:<\/b><span style=\"font-weight: 400\"> Achieving coordination, cooperation, and information sharing amongst multiple robots to minimize the time taken to find locations of humans ( dummied by AprilTags) in an indoor environment to aid the search &amp; rescue operation<\/span><\/p>\n<p><b>Sub-objectives :\u00a0<\/b><\/p>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Parallelising search in the indoor environment using efficient<\/span><b> task allocation.<\/b><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Collaborative exploration and <\/span><b>mapping<\/b><span style=\"font-weight: 400\"> of the indoor environment and<\/span><b> localization<\/b><span style=\"font-weight: 400\"> in it using information sharing amongst multiple robots.<\/span><\/li>\n<li style=\"font-weight: 400\"><b>Cooperative navigation<\/b><span style=\"font-weight: 400\"> in the environment using a centralized multi-robot controller.<\/span><\/li>\n<li style=\"font-weight: 400\"><b>Detection and reporting<\/b><span style=\"font-weight: 400\"> of AprilTags in the environment.<\/span><\/li>\n<li style=\"font-weight: 400\"><b>Visualizing<\/b><span style=\"font-weight: 400\"> locations, state of the system, and system commands on the server for the operators.<\/span><\/li>\n<li style=\"font-weight: 400\">Intelligent exploration-exploitation trade-off to <b style=\"font-size: revert;color: initial;font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, Oxygen-Sans, Ubuntu, Cantarell, 'Helvetica Neue', sans-serif\">minimize the time <\/b><span style=\"font-weight: 400\">taken to find all apriltags.<\/span><\/li>\n<\/ol>\n\n\n<p><strong>Personnel and roles:<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>Naren Sriram: Presenter<\/li><li>Charvi Gupta : Mission Control operator<\/li><li>Jaekyung Song : Presenter<\/li><li>Indraneel Patil: Crowd control<\/li><li>Rachel Zheng: Presentor<\/li><\/ul>\n\n\n\n<p><strong>Equipment List:<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\"><li>5 robots + LRFs<\/li><li>WiFi router<\/li><li>Server computer\u00a0<\/li><li>Hazard cones and obstacles<\/li><li>Apriltags<\/li><\/ol>\n\n\n\n<p><strong>Location: <\/strong>Locker area outside AI maker space, Tepper 1st floor<\/p>\n\n\n\n<figure class=\"wp-block-table is-style-stripes\"><table><tbody><tr><td><strong>Demonstrations :<\/strong><\/td><td>1 : Search &amp; Rescue with a naive exploration-exploitation trade off<\/td><td>2: Search &amp; Rescue with an intelligent exploration-exploitation trade off<\/td><\/tr><tr><td><strong>Procedure :<\/strong><\/td><td>Robots will be placed at home and they will be expected to complete the whole operation autonomously, operation ends when all AprilTags are found and a search score is calculated&nbsp;<\/td><td>Same as demo 1 but the search score is expected to significantly improve in demonstration 2<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-table is-style-stripes\"><table><tbody><tr><td><strong>Success Criteria<\/strong><\/td><td><strong>Validation Method<\/strong><\/td><\/tr><tr><td><strong>M.F.0<\/strong>. System shall identify and localize victims in environment using fiducial markers within desired rescue time<\/td><td>Victim location will be displayed on RVIZ.<\/td><\/tr><tr><td><strong>M.P.0.<\/strong> System will detect 75% of victims in the environment.<\/td><td>Count of victims localized will be updated on the GUI&nbsp;<\/td><\/tr><tr><td><strong>M.P.1. <\/strong>System will localize victim positions within 5 m.<\/td><td>The location of the victim is indicated by reported agent pose when victim was found<\/td><\/tr><\/tbody><\/table><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>Main Objective: Achieving coordination, cooperation, and information sharing amongst multiple robots to minimize the time taken to find locations of humans ( dummied by AprilTags) in an indoor environment to aid the search &amp; rescue operation Sub-objectives :\u00a0 Parallelising search in the indoor environment using efficient task allocation. Collaborative exploration and mapping of the indoor<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/02\/24\/fall-validation-demonstration\/\">+ Read More<\/a><\/p>\n","protected":false},"author":276,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3],"tags":[],"class_list":["post-266","post","type-post","status-publish","format-standard","hentry","category-test-plan"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/266","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/users\/276"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/comments?post=266"}],"version-history":[{"count":5,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/266\/revisions"}],"predecessor-version":[{"id":448,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/266\/revisions\/448"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/media?parent=266"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/categories?post=266"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/tags?post=266"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}