18 Oct

Initial reply to DARPA YFA

Tsang-Kai Chang

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

FORAY - Ball Detection on ESP 32 Cam and Transfer Back to ESP 32 Board

Zhiying Li (Steven)

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

FORAY - TWO-way communication between two esp32

Zhaoliang Zheng

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

FORAY - Detailed observations and action items of improvement after the failure of the first integrated test

Zhaoliang Zheng

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

FORAY - Update on Capturing the Ball and Reaching the Goal, and Possible Areas of Improvement

Aaron John Sabu

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

Familiarization with RoCo and lab infrastructure

Anwesha Chattoraj

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

Some draft ideas on the communication of multirobot system

Tsang-Kai Chang

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

Clawing origami robots

Wenzhong Yan

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

FORAY - New way of doing image detection

Zhaoliang Zheng

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...

09 Oct

FORAY - Blimp detects and move toward the April Tag + Hoop on the simulation playground (demo)

Zhaoliang Zheng

Simulation playground decoration progress： We attached April tag with the square hoop and hang them at the ceiling. Since there is a strong wind coming out of the wind tunnel on the simulation room, we used a plate to block the wind tunnel. (Effect see demo 1:) Demo 1: Strong wind disturbance...

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