{"id":303,"date":"2022-04-09T03:41:10","date_gmt":"2022-04-09T03:41:10","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/?p=303"},"modified":"2022-04-09T03:51:27","modified_gmt":"2022-04-09T03:51:27","slug":"progress-review-4","status":"publish","type":"post","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/04\/09\/progress-review-4\/","title":{"rendered":"Progress Review 4"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">Localization<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Got agents to connect to CMU-DEVICE WiFi, enabling testing outside VICON area<ul><li>Borrowed WiFi router from lab to avoid network issues on CMU-DEVICE<\/li><\/ul><\/li><li>Tested robots in NSH basement and FRC<ul><li>Relocated testing to Scott Hall, which has polished floors<\/li><\/ul><\/li><li>Generated map of Scott Hall and tested localization<ul><li>Recorded data and tuned localization parameters<\/li><li>Localization now works reliably<\/li><\/ul><\/li><\/ul>\n\n\n\n<p><iframe loading=\"lazy\" width=\"560\" height=\"315\" src=\"https:\/\/www.youtube.com\/embed\/LmLRoR_Eu-A\" frameborder=\"0\" allowfullscreen=\"\"><\/iframe><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>Task Allocation<\/strong><\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Improved optimality: avg 28.8% lower objective value than greedy<ul><li>Downsampled map occupancy grid to for faster A*<\/li><li>Fully connected graph for more accurate costs<\/li><li>TSP -&gt; Hamiltonian path formulation<\/li><li>Increased time for local search with metaheuristics<\/li><\/ul><\/li><li>Created fleet update feature<ul><li>Recomputes optimal allocation if fleet size changes<\/li><\/ul><\/li><li>Integrated with system<ul><li>Update active agents and tasks via service call<\/li><li>Get all map information from ROS topic<\/li><\/ul><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"526\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.44.30-PM-1024x526.png\" alt=\"\" class=\"wp-image-306\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.44.30-PM-1024x526.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.44.30-PM-300x154.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.44.30-PM-768x395.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.44.30-PM-1536x789.png 1536w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.44.30-PM.png 1670w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Path Planning<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Spatio-Temporal A*<ul><li>Prioritized planning for each robot<\/li><li>Planning in time to avoid robot-robot collision<\/li><\/ul><\/li><li>LG Control<ul><li>Custom controller to follow global trajectory<\/li><\/ul><\/li><\/ul>\n\n\n\n<p><a href=\"https:\/\/drive.google.com\/file\/d\/16bkaGS6nz5thRhFPEA0g9kCvj7MPV8tR\/view?usp=sharing\">https:\/\/drive.google.com\/file\/d\/16bkaGS6nz5thRhFPEA0g9kCvj7MPV8tR\/view?usp=sharing<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Task Generation<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Tested out art gallery formulation<ul><li>Doesn&#8217;t seem to be most suitable for our applications, will be pivoting to Voronoi diagrams<\/li><\/ul><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"449\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.49.05-PM-1024x449.png\" alt=\"\" class=\"wp-image-307\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.49.05-PM-1024x449.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.49.05-PM-300x132.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.49.05-PM-768x337.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.49.05-PM-1536x674.png 1536w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/04\/Screen-Shot-2022-04-08-at-11.49.05-PM.png 1646w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>Localization Got agents to connect to CMU-DEVICE WiFi, enabling testing outside VICON area Borrowed WiFi router from lab to avoid network issues on CMU-DEVICE Tested robots in NSH basement and FRC Relocated testing to Scott Hall, which has polished floors Generated map of Scott Hall and tested localization Recorded data and tuned localization parameters Localization<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/04\/09\/progress-review-4\/\">+ 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-303","post","type-post","status-publish","format-standard","hentry","category-progress"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/303","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=303"}],"version-history":[{"count":3,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/303\/revisions"}],"predecessor-version":[{"id":308,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/303\/revisions\/308"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/media?parent=303"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/categories?post=303"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/tags?post=303"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}