{"id":520,"date":"2022-12-09T09:17:19","date_gmt":"2022-12-09T09:17:19","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/?p=520"},"modified":"2022-12-09T09:30:18","modified_gmt":"2022-12-09T09:30:18","slug":"fvd","status":"publish","type":"post","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/12\/09\/fvd\/","title":{"rendered":"FVD"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">System Features<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Collaborative mapping and localisation through information sharing<\/li><li>Parallelising search using efficient Task Allocation<\/li><li>Cooperative navigation and swarm intelligence<\/li><li>Detect and report humans<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">MRSLAM<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Lidar &#8220;blowout&#8221; bug: solved by detecting blowout when laser readings are all bigger than a certain value, mitigated by restarting LRF module<\/li><li>Spinning odometry bug: solved by making yaw range (-pi, pi] instead of [-pi, pi]<\/li><\/ul>\n\n\n\n<p class=\"has-text-align-center\"><img decoding=\"async\" width=\"386px;\" height=\"345px;\" src=\"https:\/\/lh6.googleusercontent.com\/14031lnxSdAfaFSRvdBJVbm-8xLzlpTdjM5SEtiSGq1znNb7E-3B-0pSlLg7ckq66-XhJh65UcvLcfIa9ttGNAr9HmyWwZ__1eWtRWxlt8tESbbzYsRwoMvNT1Qe4Dtrtd7irnQBvRiEtZiUXpRgbXM34TsYcaRy-Y0hx9U4mF5pTREz1DY4XZQDWkS_H5D9\"><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Perception<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Search behavior refinement<\/li><li>Increase rotations for robustness<\/li><li>Manual camera focusing pipeline<\/li><\/ul>\n\n\n\n<p class=\"has-text-align-center\"><img decoding=\"async\" width=\"210px;\" height=\"119px;\" src=\"https:\/\/lh5.googleusercontent.com\/jBVVDMRnmfDlofnEpj05WQYMg2A-E1q_IBX5w4kIKRcdBMeTBFlkIU_qCNbGU4TGgzKJkR_D1C5f2QABh2K8iJAGJrasXCEL_kKEjPJiOqhDxK-pqPbvDUTr25ee22v1vjIhklb7jAFlkCswAEmw9sj_DpUKYDuWfUplKNynjhwDnXNIR4i7uxfSpgeWjrs5\"><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Task Generation<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Bug fixes for coverage task generation:<ul><li>Sometimes redundant tasks still generated<\/li><li>Tasks sometimes not generated in small rooms, decreased minimum task size<\/li><\/ul><\/li><li>Visualization improvements<ul><li>Task heatmap<\/li><\/ul><\/li><\/ul>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large 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-1.12.01-AM-1-983x1024.png\" alt=\"\" class=\"wp-image-524\" width=\"353\" height=\"368\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-1.12.01-AM-1-983x1024.png 983w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-1.12.01-AM-1-288x300.png 288w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-1.12.01-AM-1-768x800.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-1.12.01-AM-1.png 1016w\" sizes=\"auto, (max-width: 353px) 100vw, 353px\" \/><\/figure><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Task Allocation<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Greedy\/ Naive allocator does not explore the map fast enough (stays too close to the home for too long) -&gt; wastes precious time<\/li><li>Lack of big picture view leads to inefficient task allocation!<\/li><li>Greedy\/ Naive allocator wastes too much time in low information areas<\/li><\/ul>\n\n\n\n<p>Can we model information gain in the environment and exploit that to achieve better performance?<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>Coverage Tasks which have been crossed before have low information<\/li><li>Bigger frontiers have more information than smaller frontiers<\/li><li>As search progresses information flows from frontiers to coverage tasks<\/li><\/ul>\n\n\n\n<p>NEW MORE OPTIMAL TASK ALLOCATOR !<\/p>\n\n\n\n<p><strong>HIGH (Hierarchical Information Gain Heuristic) Allocation<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>Information-theoretic approach: task weight is encoded by its information gain<\/li><li>Balances exploration vs exploitation with weights based on explored area\u00a0<\/li><li>HIGH on average obtains a <strong>16% <\/strong>better life score (sum of times) than Naive<\/li><\/ul>\n\n\n\n<p class=\"has-text-align-center\"><img decoding=\"async\" width=\"344px;\" height=\"384px;\" src=\"https:\/\/lh4.googleusercontent.com\/SRwQg63WEjsp-wyBBbnL7qRJJgsODVuSQtzlSOxe6jL2alCTRkFZO5wtQ95BhCHg2m2AfroetBD-kWh_67mL2DBSCqTfDNWLm24TvXWYPyeq01X_sSq70TNyt3jQ0-fHp9Knfh08EUPwq31FJQQP7GJQBBtJz5f2g_HMSCRtnJZOR13_gqBJbkwkz8-RJVkv\"><\/p>\n\n\n\n<p class=\"has-text-align-center\"><img decoding=\"async\" width=\"337px;\" height=\"401px;\" src=\"https:\/\/lh4.googleusercontent.com\/9ik7lgx2hNlrN1YBPmoF_zv3SQvglbMB_jUm4tlZzrWoBQ_trdaAdqY1sNEZQ0PsYrZHAcx6_QUp2zovypeHoE9PW5Kv3D2kWxr_0MH5bpOBpxGvNX-3fK6exqmQJdtuz10Afctrj3FhqQbVHEFXb6JotR_jYPD93tfhCQhM9iJ05IgEt5f9lY0Ds4oVzsqQ\"><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Navigation<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Continued IRL testing + finetuning<\/li><\/ul>\n\n\n\n<p><img decoding=\"async\" width=\"868px;\" height=\"307px;\" src=\"https:\/\/lh6.googleusercontent.com\/37F312W1oYSDkdeYwGRXN1KrUlwx7t1t2mywlqOFCC0RqGu8LZeamTdvc7GsYPPrd6VHF_iOsn8dSM0HyHUelO23ii98NMmw_EjIPPFxoJV8MJ2lRbDGrToIa0AoDOxDvTsiLmQA0wPITMqEw4AaVXuOUqagfQkytg6Q4idq-82o0ZhukI9_Z06W65UnIQor\"><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Fleet Management System<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>LEDs to indicate detected victim<\/li><li>Bugfix: template not killed cleanly<\/li><li>Bugfix: Agent bringup bad data<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Simulation<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Setup Stage Sim with Pseudo-Apriltags to run experiments<\/li><\/ul>\n","protected":false},"excerpt":{"rendered":"<p>System Features Collaborative mapping and localisation through information sharing Parallelising search using efficient Task Allocation Cooperative navigation and swarm intelligence Detect and report humans MRSLAM Lidar &#8220;blowout&#8221; bug: solved by detecting blowout when laser readings are all bigger than a certain value, mitigated by restarting LRF module Spinning odometry bug: solved by making yaw range<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/12\/09\/fvd\/\">+ 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-520","post","type-post","status-publish","format-standard","hentry","category-progress"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/520","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=520"}],"version-history":[{"count":4,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/520\/revisions"}],"predecessor-version":[{"id":525,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/520\/revisions\/525"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/media?parent=520"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/categories?post=520"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/tags?post=520"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}