FastModelConstruction < Main

---+ Multi-robot Fast Model Construction Using Potential Field

---

<img width="320" alt="VectorField.gif" src="http://www.cis.fordham.edu/twiki/pub/Main/FastModelConstruction/VectorField.gif" title="VectorField.gif" height="240" />

---++ Objective

Using a team of robots to get a map of indoor area within

   * Minimum time
   * Most coverage
   * Least overlapping

---++ Schedule

   * [Jun 01 - Jun 08] Literature review 
      * Look at ICRA 2012 & 2011
      * keywords: coverage, potential field, navigation, multi-robot exploration, local navigation, local path planning
      * List of papers, short annotation on each one
      * be very specific about what's different and what's the same
   * [Jun 01 - Jul 08] Refine algorithm 
      * Test on obstacle map
      * chart: amount of duplication -&gt; average potential over time map
      * redo random noise
      * global scope oversee the whole map 
         * Two output map: slam result map and potential map
         * Result map
         * Potential map
   * [Jun 08 - Jul 01] MobileSim Integration
   * [Jul 01 - Jul 15] MobileSim test runs
   * [Jul 15 - Aug 01] Real robot integration complete
   * [Aug 01 - Aug 15] Real robot test runs
   * [Aug 15 - Sep 01] Paper writeup
---++ Literature Review

---++ Algorithms

test

---++ Results

test
---++ Conclusion

test

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-- (c) Fordham University Robotics and Computer Vision

Attachments

Topic attachments
I	Attachment	History	Action	Size	Date	Who	Comment
png	TotalCoverageLevel.png	r1	manage	15.2 K	2013-05-31 - 19:54	UnknownUser
gif	VectorField.gif	r1	manage	3118.9 K	2013-05-31 - 19:53	UnknownUser

This topic: Main > WebHome > FordhamRoboticsAndComputerVisionLaboratory > FRCVProjects > FastModelConstruction
Topic revision: r1 - 2013-05-31 - TsungMingLiu