Spring2011RobotLabAssignment3 - Revision history

Dsi23: /* Grading */

2011-05-11T23:36:14Z

Grading

Dsi23 at 22:41, 4 May 2011

2011-05-04T22:41:03Z

Dsi23: /* Configuration Files */

2011-05-02T00:19:16Z

Configuration Files

Dsi23 at 17:49, 29 April 2011

2011-04-29T17:49:10Z

Dsi23: /* Submission */

2011-04-29T17:47:39Z

Submission

Dsi23: /* Extra Credit */

2011-04-29T17:39:32Z

Extra Credit

Ar374: /* Additional Requirements */

2011-04-29T17:38:37Z

Additional Requirements

Dsi23: /* Part 2 */

2011-04-29T17:33:08Z

Part 2

Dsi23: /* Part 1 */

2011-04-29T17:32:59Z

Part 1

Dsi23: /* Part 2 */

2011-04-29T17:32:23Z

Part 2

@@ Line 44: / Line 44: @@
 ** Capturing all of the shapes on the map:  5 pts.
 ** Accuracy of the shapes and their relative positions:  5 pts.
 * Quality of techniques for fusing (combining) the data from both approaches, and quality of the map it produces: up to 6 extra points.
-'''TOTAL = 24 points + 6E.C.'''
+'''TOTAL = 28 points + 6E.C.'''
 ==Map==
 [[File:Slam-map.png]]

← Older revision		Revision as of 22:41, 4 May 2011
Line 1:		Line 1:
−	[[Category:Robot Lab (Spring ~~2010~~)]]	+	[[Category:Robot Lab (Spring 2011)]]
	=Assignment 3: "Where am I"=		=Assignment 3: "Where am I"=

@@ Line 16: / Line 16: @@
 The configuration files are provided [http://www.cs.drexel.edu/~urlass/three_setup.tar.gz here].
-Inside there is a client skeleton files which you are welcome to use or not use.  There is also a script, create_world.py, to generate the slam.world file.  Please note that it will place the robot in a different starting location each time.  This script will be run before your robot is tested, so you cannot assume that it will start in any particular location.  It is possible that the script places your robot inside an obstacle.  If that happens, just run it again.
+Inside there is a client skeleton files which you are welcome to use or not use.  There is also a script, create_world.sh, to generate the slam.world file.  Please note that it will place the robot in a different starting location each time.  This script will be run before your robot is tested, so you cannot assume that it will start in any particular location.  It is possible that the script places your robot inside an obstacle.  If that happens, just run it again.
 ==Additional Requirements==

@@ Line 1: / Line 1: @@
 [[Category:Robot Lab (Spring 2010)]]
-==Assignment 3: "Where am I"==
+=Assignment 3: "Where am I"=
 In this assignment, you will use the Roomba model robot to perform simultaneous location and mapping (SLAM).  Your robot will be placed in a random location in the world, and needs to construct a map of the world.  The robot does not know it's location or orientation.  The robot should create the map as it explores it, that is, it should NOT wait until it has explored the entire world to produce a map.  If your robot is stopped at an arbitrary point in time, it should have ''some'' kind of map written, representing what it has seen so far. You proabably want to look into "occupancy grid mapping" to do this assignment.
-====Part 1====
+===Part 1===
 In the first part of the problem, you will generate a map using dead-reckoning. You may not use getX(), getY(), getYaw(), getData(), or getGeom() in the Position2DInterface class.  If you find some other functions that report the robots location or orientation, you can't use them either. You may use the laser range finder.
-====Part 2====
+===Part 2===
 In the second part, you will generate a map using an odometer-based technique. You <b>should</b> use the getX(), getY(), getYaw(), getData(), or getGeom() functions in the Position2DInterface class. You may use the laser range finder.
-====Extra Credit====
+===Extra Credit===
 In the optional extra credit, you will produce a map that shows the 'diff' between maps produced in Part 1 and Part 2, then combine measurements from these techniques to make a more accurate map (and visualize the improvement).
-===Configuration Files===
+==Configuration Files==
 The configuration files are provided [http://www.cs.drexel.edu/~urlass/three_setup.tar.gz here].
 Inside there is a client skeleton files which you are welcome to use or not use.  There is also a script, create_world.py, to generate the slam.world file.  Please note that it will place the robot in a different starting location each time.  This script will be run before your robot is tested, so you cannot assume that it will start in any particular location.  It is possible that the script places your robot inside an obstacle.  If that happens, just run it again.
-===Additional Requirements===
+==Additional Requirements==
 * You may not hard code turns or rely on anything particular to the provided map.  If your robot were to run on a map with the landmarks in a different location it should still work.
@@ Line 25: / Line 25: @@
 If you are not sure about the above requirements, feel free to email the TAs.
-===Extra Credit===
+==Extra Credit==
 Combine the estimates from both the dead-reckoning and the odometer-based approaches in some reasonable way to create a map.  In order to get points for this part, your README file must describe the data fusion technique you used.
-===Submission===
+==Submission==
 * Submit a tarball to the TA's: Dustin Ingram ([mailto:dsi23@drexel.edu dsi23@drexel.edu]) & Aaron Rosenfeld ([mailto:ar374@drexel.edu ar374@drexel.edu]) containing:
 ** Your robot client code for parts 1&2
@@ Line 35: / Line 35: @@
 * If something does not work properly or is incomplete, you must say so in the README.
-===Grading===
+==Grading==
 * Quality of dead-reckoning-based map: up to 12pts.
 ** Periodically writing a map file:  2 pts.
@@ Line 47: / Line 47: @@
 '''TOTAL = 24 points + 6E.C.'''
-===Map===
+==Map==
 [[File:Slam-map.png]]

@@ Line 29: / Line 29: @@
 ===Submission===
-* Submit a tarball of your robot client code and a README file with any necessary build instructions or peculiarities of your program to the TA's: Dustin Ingram ([mailto:dsi23@drexel.edu dsi23@drexel.edu]) & Aaron Rosenfeld ([mailto:ar374@drexel.edu ar374@drexel.edu])
+* Submit a tarball to the TA's: Dustin Ingram ([mailto:dsi23@drexel.edu dsi23@drexel.edu]) & Aaron Rosenfeld ([mailto:ar374@drexel.edu ar374@drexel.edu]) containing:
 * If something does not work properly or is incomplete, you must say so in the README.

@@ Line 23: / Line 23: @@
 * The maps produced by your robot should be in some reasonably common image format such as XPM, PNG, JPEG, etc.
-If you are not sure about the above requirements, feel free to email the TA.
+If you are not sure about the above requirements, feel free to email the TAs.
 ===Extra Credit===