{"id":292,"date":"2022-04-09T00:53:58","date_gmt":"2022-04-09T00:53:58","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/?p=292"},"modified":"2022-04-09T01:03:29","modified_gmt":"2022-04-09T01:03:29","slug":"progress-review-2","status":"publish","type":"post","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/04\/09\/progress-review-2\/","title":{"rendered":"Progress Review 2"},"content":{"rendered":"\n<p><strong>Localization: <\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>VICON data was saved to rosbags and used to tune hyperparameters of SLAM Toolbox<\/li><li>Single-robot localization is fairly robust\u00a0<\/li><li>RMS error for the position was approximately equal to 10 cm after one run<\/li><\/ul>\n\n\n\n<p><img decoding=\"async\" src=\"https:\/\/lh4.googleusercontent.com\/chdNwmf7yT_cHl3IxN8cI6zqyG6jTJK2WM3-EIJcMjI65Qbou6rqKJ8Hs_eRudJH7t2z588KyHW8W8xTC1OAsSUOEQltjc-g5Qx1RNmjy5XU1VWMl84fpYqt53uQHK5RxemOU-tfZPH9\" style=\"width: 500px\"><\/p>\n\n\n\n<p><strong>Task Generation:<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>Given a map of environment, finding large clearings for agents to explore<\/li><li>Green points in image are points of interest<\/li><li>Task generator has good coverage of the map<\/li><li>Simulated in VICON map and Willow map<\/li><\/ul>\n\n\n\n<p><img decoding=\"async\" src=\"https:\/\/lh5.googleusercontent.com\/EccBPfPrWFqxzVQPUEh0HorUFWIUaxTCyNnWHNlsuuWBvpYH7yB9_luozBGWtYLaVIic1uDuQtXmYdh4q5dXak2R_YzInWHZXL_lli8Ba2GJb-8UJDm8fOfv1id8Z4aeKVjnZbG67GSX\" style=\"width: 400px\"><\/p>\n\n\n\n<p><strong>Task Allocation:<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>Built graph between generated nodes with A* path length as edge weight<\/li><li>Online greedy assignment<\/li><li>Scalable design<\/li><li>Simulated in Vicon map and Willow map<\/li><\/ul>\n\n\n\n<p><img decoding=\"async\" width=\"448px;\" height=\"390px;\" src=\"https:\/\/lh4.googleusercontent.com\/27knhYDsX_Tl5XJ2Nkm1EkbmVOx0WqqGQDt_QXW6_ieVeYV98BjVDNDujoyLEg0LhWG0jkjhsm2cFyBajoLr-gJecD8Zb2uzq5cdFdtYjsoATjfbX0-lDeSF9ouHtsYjsvhFtT3Q1IRR\"><\/p>\n\n\n\n<p><strong>Simulation:<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>Performed a trade study for multi robot simulators<\/li><li>Setup a multi robot simulator with ROS stage<\/li><li>Integrated move_base with each robot<\/li><\/ul>\n\n\n\n<p><img decoding=\"async\" width=\"447px;\" height=\"401px;\" src=\"https:\/\/lh6.googleusercontent.com\/CgZlPVR6mbTT3irwvoAcvEDF9OSgoRhcoE16rV8KJWqGUBeB31Xnksho9C-FXmRoZvSMOwNIDkTxQwjeqBN0qjYBxue-rzLoPx4Cn5Ik2BaEkIJ0T7XKDmq9orkXdGQnENyfxCx6y6zq\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Localization: VICON data was saved to rosbags and used to tune hyperparameters of SLAM Toolbox Single-robot localization is fairly robust\u00a0 RMS error for the position was approximately equal to 10 cm after one run Task Generation: Given a map of environment, finding large clearings for agents to explore Green points in image are points of<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/04\/09\/progress-review-2\/\">+ 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":[5],"tags":[],"class_list":["post-292","post","type-post","status-publish","format-standard","hentry","category-progress"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/292","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=292"}],"version-history":[{"count":3,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/292\/revisions"}],"predecessor-version":[{"id":296,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/292\/revisions\/296"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/media?parent=292"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/categories?post=292"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/tags?post=292"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}