{"id":501,"date":"2022-12-09T07:31:51","date_gmt":"2022-12-09T07:31:51","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/?p=501"},"modified":"2022-12-09T08:57:58","modified_gmt":"2022-12-09T08:57:58","slug":"progress-review-9","status":"publish","type":"post","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/12\/09\/progress-review-9\/","title":{"rendered":"Progress Review 9"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">MRSLAM<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Testing and tuning in real life<\/li><li>Initial testing with 4 robots &#8211; identified initialization issue<\/li><li>Modified Ray Casting behaviour to fill in all free areas<\/li><\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"487\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-3.50.37-AM-1024x487.png\" alt=\"\" class=\"wp-image-504\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-3.50.37-AM-1024x487.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-3.50.37-AM-300x143.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-3.50.37-AM-768x365.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-3.50.37-AM-1536x731.png 1536w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-3.50.37-AM.png 2034w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Navigation<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Hardware testing for Lazy Traffic Controller<\/li><li>Tune the controller velocity calculation frequency to the execution frequency of the robots<\/li><li>Since differential drive robots don\u2019t immediately achieve commanded velocity, use feedback velocity (calculated from change in position of the robot) for velocity obstacles calculation<\/li><li>Addition of new term in cost function while scoring velocities to reduce oscillations<ul><li>float penalty = RVO_SAFETY_FACTOR \/ min_t_to_collision + dist_to_pref_vel + dist_to_cur_vel<\/li><\/ul><\/li><li>Static obstacle avoidance<ul><li>Latencies in real life \/ localization errors causes robots to sometimes collide with obstacles<\/li><li>Adding static obstacle avoidance increases robustnesses and prevents crashes<\/li><\/ul><\/li><\/ul>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-3.53.48-AM.png\" alt=\"\" class=\"wp-image-505\" width=\"492\" height=\"347\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-3.53.48-AM.png 720w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-3.53.48-AM-300x212.png 300w\" sizes=\"auto, (max-width: 492px) 100vw, 492px\" \/><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Task Generation<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Frontier Exploration<ul><li>RRT-based frontier generation<\/li><li>RRT expands from robot starting position into free space<\/li><\/ul><ul><li>When a node connects into unknown space, it is considered a frontier<\/li><li>Possible frontiers are then clustered and filtered to prevent redundancies<\/li><\/ul><\/li><li>Challenges:<ul><li>Improve filtering based on information gain<\/li><li>RRT does not update with map loop closures<\/li><li>How does this scale to larger maps?<\/li><\/ul><\/li><\/ul>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"726\" height=\"640\" data-id=\"508\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-3.57.10-AM.png\" alt=\"\" class=\"wp-image-508\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-3.57.10-AM.png 726w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-3.57.10-AM-300x264.png 300w\" sizes=\"auto, (max-width: 726px) 100vw, 726px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"706\" height=\"456\" data-id=\"507\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-3.57.32-AM.png\" alt=\"\" class=\"wp-image-507\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-3.57.32-AM.png 706w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-3.57.32-AM-300x194.png 300w\" sizes=\"auto, (max-width: 706px) 100vw, 706px\" \/><\/figure>\n<\/figure>\n","protected":false},"excerpt":{"rendered":"<p>MRSLAM Testing and tuning in real life Initial testing with 4 robots &#8211; identified initialization issue Modified Ray Casting behaviour to fill in all free areas Navigation Hardware testing for Lazy Traffic Controller Tune the controller velocity calculation frequency to the execution frequency of the robots Since differential drive robots don\u2019t immediately achieve commanded velocity,<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/12\/09\/progress-review-9\/\">+ 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-501","post","type-post","status-publish","format-standard","hentry","category-progress"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/501","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=501"}],"version-history":[{"count":3,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/501\/revisions"}],"predecessor-version":[{"id":509,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/501\/revisions\/509"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/media?parent=501"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/categories?post=501"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/tags?post=501"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}