{"id":297,"date":"2022-04-09T01:05:36","date_gmt":"2022-04-09T01:05:36","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/?p=297"},"modified":"2022-04-09T03:40:33","modified_gmt":"2022-04-09T03:40:33","slug":"progress-review-3","status":"publish","type":"post","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/04\/09\/progress-review-3\/","title":{"rendered":"Progress Review 3"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\"><strong>Localization:<\/strong><\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Extended localization to operate with multiple robots<ul><li>Designed mount for LIDAR sensors to Kheperas<\/li><li>Adjusted architecture to support agent specific frames and transforms<\/li><\/ul><\/li><li>Adjusted VICON test setup to get better ground truth<ul><li>New localization performance: 5.88 cm RMS<\/li><\/ul><\/li><li>Tested localization performance with 3 agents in system<ul><li>Performance did not degrade: 5.02 cm RMS<\/li><\/ul><\/li><\/ul>\n\n\n<p><iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/FFM_Y-nip3A\" width=\"560\" height=\"315\" frameborder=\"0\" allowfullscreen=\"allowfullscreen\"><\/iframe><\/p>\n\n\n<h2 class=\"wp-block-heading\">T<strong>ask Generation:<\/strong><\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Added Manually generated tasks in RViz<\/li><\/ul>\n\n\n\n<p><img decoding=\"async\" width=\"650px;\" height=\"384px;\" src=\"https:\/\/lh6.googleusercontent.com\/B_JWB_c9uIHi2eBCGL9_nQr75SZmpTJv34oo83YmibIGIApGWdjX6GuoDkaE-1xKtWvyryXcAvKAjLBXIxmTXeU56FpBsGFimqNLTXcZSACNifLOWKIloDMonQ4kpycg4BZKqHuEhtQ-\"><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Task Allocation:<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Upgraded greedy task allocation to Multiple Traveling Salesman Problem (mTSP) formulation<ul><li>Used constraint optimization library: Google OR-Tools<\/li><li>Set up as a mTSP and solved it as an optimization problem<\/li><\/ul><\/li><li>Integrated allocator with the current system interest areas in the map on Rviz<ul><li>Use GUI to manually specify<\/li><li>TA takes those points, makes a graph and uses the weighted graph to assign tasks<\/li><li>Every time the robot finishes a task, a new task is assigned<\/li><\/ul><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"438\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.33.42-PM-1024x438.png\" alt=\"\" class=\"wp-image-300\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.33.42-PM-1024x438.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.33.42-PM-300x128.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.33.42-PM-768x328.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.33.42-PM-1536x657.png 1536w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.33.42-PM-2048x876.png 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>Path Planning:<\/strong><\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Modular plug and play design -&gt; allows debugging, reusability and future R&amp;D<\/li><li>Separation of concerns between different modules also allowed easy work allocation and testing<\/li><li>Implemented prioritized A*<\/li><\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"365\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.36.21-PM-1024x365.png\" alt=\"\" class=\"wp-image-301\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.36.21-PM-1024x365.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.36.21-PM-300x107.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.36.21-PM-768x274.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.36.21-PM-1536x547.png 1536w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.36.21-PM-2048x729.png 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Fleet Management System:<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Created ROS Service to post agent data on the service for any client \/ sub-systems to call it and access it<\/li><li>Bifurcated the communication into a service call and a ros topic which informs the other&nbsp; subsystems of any change in robot status<\/li><li>Fixed some bugs in the bringup code<\/li><\/ul>\n","protected":false},"excerpt":{"rendered":"<p>Localization: Extended localization to operate with multiple robots Designed mount for LIDAR sensors to Kheperas Adjusted architecture to support agent specific frames and transforms Adjusted VICON test setup to get better ground truth New localization performance: 5.88 cm RMS Tested localization performance with 3 agents in system Performance did not degrade: 5.02 cm RMS Task<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/04\/09\/progress-review-3\/\">+ 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-297","post","type-post","status-publish","format-standard","hentry","category-progress"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/297","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=297"}],"version-history":[{"count":3,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/297\/revisions"}],"predecessor-version":[{"id":302,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/297\/revisions\/302"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/media?parent=297"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/categories?post=297"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/tags?post=297"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}