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subsumption – Introduction to Autonomous Robotics
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subsumption [2011/11/11 11:56]
brownrobotics [Description]
subsumption [2011/11/21 14:18] (current)
brian
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 Assigned: Friday, November 11, 2011\\ Assigned: Friday, November 11, 2011\\
-Due     : Tuesday, November 22, 2011\\ +Due     : Wednesday, November 30, 2011 at 12:55pm\\ 
-Inter-group soccer competition: Monday, November 28, 2011 \\+Inter-group soccer competition: Wednesday, November 30, 2011 \\
  
 ====== Description ====== ====== Description ======
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 Your task for this project is to implement a reactive control system for playing robot soccer.  The navigation component of the project involves: Your task for this project is to implement a reactive control system for playing robot soccer.  The navigation component of the project involves:
  
-  * Avoid all obstacles perceived visually (fiduciary marker, and other robots)+  * Avoid all obstacles perceived visually (pink fiducials, and other robots marked with the same color pink)
   * React to physical obstacles (physically objects, IR-based virtual walls)   * React to physical obstacles (physically objects, IR-based virtual walls)
   * Search and approach to a ball   * Search and approach to a ball
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 Your robot will need to stay within the general field of play as given by the physical walls of the Roomba Lab and virtual walls placed around the pitch.  Your robot will need to stay within the general field of play as given by the physical walls of the Roomba Lab and virtual walls placed around the pitch. 
  
-Additionally, your robot should make reasonable attempts to avoid collisions with other robots, which will be marked with colored rectangular fiducials placed around Kinect.+Additionally, your robot should make reasonable attempts to avoid collisions with other robots, which will be marked with pink fiducial coloring wrapped around the lower segment of the robot base.
  
 ** We will definitely call player pushing penalties for this assignment! ** ** We will definitely call player pushing penalties for this assignment! **
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 Note: Development for all groups freezes at the start of match play. Modifications to your package cannot be made during the competition, although modification to rosparams and launch files can be made. Matches will not be delayed for groups that are not ready the time schedule for their match. Note: Development for all groups freezes at the start of match play. Modifications to your package cannot be made during the competition, although modification to rosparams and launch files can be made. Matches will not be delayed for groups that are not ready the time schedule for their match.
  
 +==== Clarifications ====
 +
 +  * Robots will be wrapped in pink fiducial color.  We'll put the laptops on top of the turtlebots and affix them with industrial-strength velcro.  (We'll affix the velcro over a layer of tape so that it's easy to remove after the assignment is over.)
 +  * The goal markers have been raised and the color swatch greatly heightened.  (The width is the same.)  You should be able to see them from pretty much anywhere on the field now, and you should be able to see AR tags when you're fairly close.
 +  * There will _not_ be green over orange and orange over green fiducials.  We will only use pink ones.
  
subsumption.txt · Last modified: 2011/11/21 14:18 by brian
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