Robot Motion Planning Project

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Robot Motion Planning Project
Given a (partially) assembled truss of nodes and
beams, my project will enable Xavier to reliably
reposition to any position around the truss. The
robot will move by observing fiducials attached
to the nodes and beams and combining these
measurements with its odometry.
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Robot Motion Planning Project
Frederik Heger, Xavier
Filtering Method I will use Bayes/Particle
Filtering for this project. The main reasons for
this choice are the ability to represent
multi-modal believe distributions and to not be
limited to Gaussian distributions. This
functionality will probably be useful when
extending this work within the Trestle
system. Demonstration The robot is told where
to go by clicking on a GUI showing the current
state of the truss assembly. Xavier then drives
around the truss to its target location and stops
there, waiting for the next target to be
specified.
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Fred is giving the FRC Seminar!

• Sliding Autonomy for Complex Coordinated
  Multi-Robot Tasks Analysis Experiments
• Next Wednesday
• Free Pizza!