20 Oct

In order to see the goals taped with the retro-reflective tape, we attached our robot with an IR LED and take a picture of the frame. Then, we take a picture with the LED off. By setting a specific threshold, we can find pixel with the difference between the 2 images being more than the specified re...

19 Oct

Code Tried to get rid of a few redundancies in some parts of the roco code Started writing a new composable (pseudocode) that can be used a base module for generating the controller for the given robot geometry need some help to figure out how relevant robot dynamics will be for the controll...

19 Oct

Due to the diverse system architecture of the project and even of a single blimp, we have modularized the main Embedded C program that runs on the ESP32 that controls the motion of the blimp. Functions belonging to different subsystems - Propulsion, Localization, Debugging, etc. - have been separate...

18 Oct

What DARPA wants: Independent derivation of action and tasks within a team with limited or degraded communication is critical but not explored. DARPA desires efficient, bundled perception, localization, planning, and control algorithms for small robots to move rapidly and accomplish a multi-robo...

17 Oct

We are able to conduct green ball detection end-to-end pipeline using ESP 32 Cam The closed-loop communication figure: We are now able to transfer detected data (X,Y) position of the center of the green ball) to Esp32 feather board ESP 32 Camera (as an Access Point) broadcast video it saw ...

16 Oct

We finished the two-way wifi communication between two esp32. Based on our experiment two days ago, in order to easily and quickly debug our PID paramters. We need to find a good way to tune those parameters and receive the information from the blimp for debugging purposes. In the following v...

14 Oct

The reason we failed tonight: (1) Space decoration: it took us 40 mins to setup everything (new floor lamp, super long power strip, table, blimp, chair and so on) It sitll not a good setup. For example, the power strip is at the center of the field, which is easily stumbled. Th...

14 Oct

The FORAY team is presently working on the integration of tasks for the individual blimp. This includes ball detection (presently using color detection for the prototype), ball capture (using the basket and a LIDAR+camera system), goal detection (presently using April Tag detection and shape detecti...

13 Oct

I have been going through the RoCo codebase and have become familiar with the architecture. The main problem I faced was with adding new builder files from Jill's RoCo repo to the original RoCo that I had forked. Even after manually calling the builders and the generating the corresponding yaml file...

11 Oct

We studied the cooperative localization algorithm in multirobot systems before. However, when we want to apply the algorithm in the realistic multirobot system, a lot of realistic issues need to be addressed. One of the critical issues is the assumption in communication. Wireless Communication and...