{"id":12,"date":"2022-11-21T17:34:55","date_gmt":"2022-11-21T17:34:55","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamh\/?page_id=12"},"modified":"2023-12-14T15:59:43","modified_gmt":"2023-12-14T15:59:43","slug":"system-performance","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamh\/system-performance\/","title":{"rendered":"System Performance"},"content":{"rendered":"\n
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System under test<\/strong><\/td>Success Criteria<\/strong><\/td>Result<\/strong><\/td><\/tr>
LIDAR localization<\/td>Translational error <= 10 centimeters in the x and y axis<\/td>A translational component within the error region of 10 centimeters<\/em><\/strong><\/td><\/tr>
<\/td>Yaw error <= 10 degrees <\/td>Rotation component within the error region of 10 degrees<\/em><\/strong><\/td><\/tr>
<\/td>Successful initialization with initial guess error deviation of >=20 centimeters and >=20 degrees with the ground truth<\/td>Successful initialization with initial guess deviation of 40 centimeters and 22.5 degrees<\/em><\/strong><\/td><\/tr>
Aruco3 marker detector<\/td>Translational error in range estimation under 3cm<\/td>Observed error value under 1cm<\/em><\/strong><\/td><\/tr>
<\/td>Rotational error in marker yaw estimation under 3 degrees.<\/td>Observed error value under 2 degrees<\/em><\/strong><\/td><\/tr>
Global planner <\/td>Should plan paths for multiple robots in under 2 seconds.<\/td>Decentralized planners.
Plans new paths in 22ms.<\/em><\/strong><\/td><\/tr>
<\/td>Should work in simulated testbed env.<\/td>Works in testbed simulation.<\/td><\/tr>
Collision Avoidance<\/td>Should avoid collisions 100% of the time<\/td>Avoids collisions attributing to replanning and inflation maps<\/td><\/tr>
3D Object Detector<\/td>Should achieve an average recall and precision of 70% for objects within 5m<\/td>Average Recall\u00a0(AR) = 89.1 %<\/em><\/strong>
Average Precision\u00a0(AP) = 71.1 %<\/em><\/strong><\/td><\/tr>
Docking<\/td>Should dock within a lateral error of 10cm, a forward error of 2cm and orientation error of 10 degrees<\/td>Lateral error <= 5cm<\/strong>
Forward error <= 2cm<\/strong>
Orientation error <= 10 degrees<\/strong><\/td><\/tr><\/tbody><\/table>
System Performance [Dec 2023]<\/figcaption><\/figure>\n<\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"

System under test Success Criteria Result LIDAR localization Translational error <= 10 centimeters in the x and y axis A translational component within the error region of 10 centimeters Yaw error <= 10 degrees  Rotation component within the error region […]<\/p>\n","protected":false},"author":334,"featured_media":0,"parent":0,"menu_order":3,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-12","page","type-page","status-publish","hentry","clearfix"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamh\/wp-json\/wp\/v2\/pages\/12","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamh\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamh\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamh\/wp-json\/wp\/v2\/users\/334"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamh\/wp-json\/wp\/v2\/comments?post=12"}],"version-history":[{"count":8,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamh\/wp-json\/wp\/v2\/pages\/12\/revisions"}],"predecessor-version":[{"id":313,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamh\/wp-json\/wp\/v2\/pages\/12\/revisions\/313"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2023teamh\/wp-json\/wp\/v2\/media?parent=12"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}