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...

11 Oct

For the next week, I will spend most of my time on preparing the manuscript for RoboSoft conference. The manuscript is about crawling origami robots that use a printable oscillator as a simple embedded controller and actuator. The deadline is Oct. 25th, I will finish the first draft by Oct. 16th and...

11 Oct

We figured out a new way of doing image detection. In this way, we should be able to use the computational power of laptop to detect objects using trained machine learning algorithm. Here is the overall flowchart: We tested the RF communication part in the lab: It works exceedingly bette...