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---+ 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 -> 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 <span style="color: #7a4707; font-family: 'Courier New', courier, monaco, monospace; white-space: pre;"><meta name="robots" content="noindex" /></span> -- (c) Fordham University Robotics and Computer Vision
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Topic revision: r1 - 2013-05-31
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TsungMingLiu
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