{"id":526,"date":"2022-12-09T09:30:45","date_gmt":"2022-12-09T09:30:45","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/?p=526"},"modified":"2022-12-09T09:36:14","modified_gmt":"2022-12-09T09:36:14","slug":"fvd-encore","status":"publish","type":"post","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/12\/09\/fvd-encore\/","title":{"rendered":"FVD Encore"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">New features:<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>Ability to add an agent to the fleet mid-mission<\/li><li>New and improved HIGH task allocation: HIGH2<ul><li>Better task sampling<\/li><li>Better objective weights<\/li><li>Quadratic decay exploration-exploitation weight -&gt; linear<\/li><li>Fix for immortal frontiers<\/li><li>Greedy -&gt; Optimal assignment via Hungarian algorithm<\/li><\/ul><\/li><li>Robust bad sensor data filtering<\/li><li>Better multi robot control in narrow corridors<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">New demos:<\/h2>\n\n\n\n<ol class=\"wp-block-list\"><li>New HIGH Task Allocation<\/li><li>Fleet Addition + Random Victim Locations<\/li><\/ol>\n\n\n\n<p>We showed: <\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>How does our improved HIGH TA perform?<\/li><li>Can our system handle changing fleet sizes?<\/li><li>How does our system handle different environments?<\/li><\/ul>\n\n\n\n<p class=\"has-text-align-center\"><img decoding=\"async\" width=\"517px;\" height=\"291px;\" src=\"https:\/\/lh5.googleusercontent.com\/5ao9xxXzliHtkURNNtZhTi--Y-bed__RN6PObQRj-fPctkVYGHqE-Pf3SgIBbfd1LrpxyU6uQiL0c6AjqdqmghTSu7k99w_SlDwfyT3ssoGMMH6SxD2tryLHa7WyUuEQ79s6sjsALU6Q-D18phbW16bHmh375hiaaprxgWzE_VDWoUN7nhEHCtn9fyWsMaLZ\"><\/p>\n\n\n\n<p class=\"has-text-align-center\"><img decoding=\"async\" width=\"509px;\" height=\"405px;\" src=\"https:\/\/lh3.googleusercontent.com\/M269ng6UWNsheT25fUPqSABCPi6COWaMtnGM2dzuRrg2b8zbUf8nrYVUjxDCA4hGvBtKgELF60Q2ckloZ2QWqBLuILJnmkSJWVdAX7SNE9f2fjRH-ujpNaCwD_-C6ryaPRt0bvmQ2X6a11sUTC_yYHwjVary90bq_1czIxo3RjlBn2-y_PPPmVxDcnp_3h0T\"><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"490\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-4.35.11-AM-1024x490.png\" alt=\"\" class=\"wp-image-529\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-4.35.11-AM-1024x490.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-4.35.11-AM-300x143.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-4.35.11-AM-768x367.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-4.35.11-AM-1536x734.png 1536w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-content\/uploads\/sites\/59\/2022\/12\/Screenshot-2022-12-09-at-4.35.11-AM-2048x979.png 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>New features: Ability to add an agent to the fleet mid-mission New and improved HIGH task allocation: HIGH2 Better task sampling Better objective weights Quadratic decay exploration-exploitation weight -&gt; linear Fix for immortal frontiers Greedy -&gt; Optimal assignment via Hungarian algorithm Robust bad sensor data filtering Better multi robot control in narrow corridors New demos:<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/2022\/12\/09\/fvd-encore\/\">+ 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-526","post","type-post","status-publish","format-standard","hentry","category-progress"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/526","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=526"}],"version-history":[{"count":3,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/526\/revisions"}],"predecessor-version":[{"id":531,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/posts\/526\/revisions\/531"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/media?parent=526"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/categories?post=526"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamf\/wp-json\/wp\/v2\/tags?post=526"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}