{"id":510,"date":"2022-12-09T08:58:26","date_gmt":"2022-12-09T08:58:26","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/?p=510"},"modified":"2022-12-09T09:04:17","modified_gmt":"2022-12-09T09:04:17","slug":"progress-review-10","status":"publish","type":"post","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/12\/09\/progress-review-10\/","title":{"rendered":"Progress Review 10"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">MRSLAM<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Added check before correcting odometry with laser scan<\/li><li>Added mutex\u2019s to make algorithm multi-threading safe<\/li><li>Adjusted raytrace behavior to avoid generating free-space due to sensor limitations<\/li><li>Still investigating erroneous scans being added to map<\/li><\/ul>\n\n\n\n<p class=\"has-text-align-center\"><img decoding=\"async\" width=\"498px;\" height=\"280px;\" src=\"https:\/\/lh6.googleusercontent.com\/c3v2velqwenFn6y-jt4gDCOVyCF3NgJ0lovVx9Ej6kxTloxF8f4zEtf9Kg8-qiGacIxCQkKpfwUDKPeGbo0UP5xWPcSepIRvQqnljpm0db299tHuP3pEQCmL17j7XlB-i29XBlB7xWyy6TbkW8hbhMBLOQ\"><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Navigation<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Added repulsive forces when robots are within a repulsion zone\u00a0<ul><li>using an inverse cube of distance<\/li><\/ul><\/li><li>When robots are within a repulsion zone, robots are assigned a repulsive velocity.\u00a0<\/li><li>Testing it with the robots introduced a lot of bugs because this is another velocity component added on the robot along with the velocity obstacle.\u00a0<\/li><li>Tuning the parameters for velocity obstacle<\/li><\/ul>\n\n\n\n<ul class=\"wp-block-list\"><li>Implemented search behavior in robot after it reaches a goal based on the type of goal specified.\u00a0<\/li><li>Robot rotates in place and tries to detect a victim.\u00a0<\/li><li>Not using it right now because we are discussing other ideas.\u00a0<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Task Allocation \/ Generation <\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Improvements to RRT Frontier Exploration<ul><li>Filtering frontiers based on information gain<\/li><li>Tuning hyperparameters: RRT branch length, sampling frequency, info gain threshold<\/li><li>Making frontiers more stable: saving previous frontier centroids and adding to current frontier list to be reclustered + filtered<\/li><\/ul><\/li><li>Integrating frontier tasks with task allocator<ul><li>Greedy task allocation based on distance<\/li><li>Greedy allocation sends robots to not globally optimal tasks<\/li><li>Work on market-based task allocation<\/li><li>Use A* path costs instead of euclidean<\/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=\"814\" height=\"570\" data-id=\"514\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-4.02.47-AM.png\" alt=\"\" class=\"wp-image-514\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-4.02.47-AM.png 814w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-4.02.47-AM-300x210.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-4.02.47-AM-768x538.png 768w\" sizes=\"auto, (max-width: 814px) 100vw, 814px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"764\" height=\"612\" data-id=\"513\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-4.02.50-AM.png\" alt=\"\" class=\"wp-image-513\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-4.02.50-AM.png 764w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-4.02.50-AM-300x240.png 300w\" sizes=\"auto, (max-width: 764px) 100vw, 764px\" \/><\/figure>\n<\/figure>\n","protected":false},"excerpt":{"rendered":"<p>MRSLAM Added check before correcting odometry with laser scan Added mutex\u2019s to make algorithm multi-threading safe Adjusted raytrace behavior to avoid generating free-space due to sensor limitations Still investigating erroneous scans being added to map Navigation Added repulsive forces when robots are within a repulsion zone\u00a0 using an inverse cube of distance When robots are<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/12\/09\/progress-review-10\/\">+ 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-510","post","type-post","status-publish","format-standard","hentry","category-progress"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/510","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=510"}],"version-history":[{"count":3,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/510\/revisions"}],"predecessor-version":[{"id":515,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/510\/revisions\/515"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/media?parent=510"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/categories?post=510"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/tags?post=510"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}