So far, Colo is functional to test and analyze cooperative localization. However, users need to modify the environment to add new algorithmn. I want to make it as a toolbox(python pakage) for users so that they just import it and use it. I have look into several simulation environment. Pymote is a...

Over the past week I have been reformulating the Kalman filter implementation by given it a more formal representation such that the system can be fully understand and built upon. The image below shows the block diagram of the system from the highest level: The plant model is assumed to be kno...

The SegBot in the interface This week, Prathyush and I worked on building the "SegBot" car in the mechanical interface. To do this, we had to fix/add multiple features, and there are still a few things left to do before the design is perfect. The two main obstacles if creating the car were adding...

Finally, the finger joints can be appropriately added into connection between selected subcomponents. The way we achieved this goal is to call specific arguments in make_output() function without adjusting our RoCo system. c.make_output(tabFace=maleFingerJoint,tabDecoration=maleFingerJointDecorati...

This week we have been trying to use Kinect to obtain the position of a Crazyflie. So far, we have found three well-documented methods to do so: Autopilot with Crazyflie Client This is by far the easiest methods and only requires a version of the client that supports Kinect. However, we had issu...

Since we are discussing the distributive Kalman filter based covariance intersection, we have to take a look at how it develops. The paper, named "Diffusion Kalman filter based on Covariance Intersection," is of great importance. The real contribution of this paper is not in the algorithm that the...

The problem that was encountered last week was that the two wheeled paperbot was not able to support the weight of the phone. This week I worked on creating a four wheeled bot that could maybe have a better change at carrying a phone around. I modified the cutout to accomodate two more servos and th...

Throughout this week, I have discussed with other members of Roco team about how to improve the current interface. Ultimately, we agree that we should eliminate the current “right column”, which is currently the main interface to input new parameters of components and subcomponents. Such an interfac...

Christian, Prathyush, and I came up with a rough plan on how to proceed with our new research and some goals/questions to address for this quarter. It can be found below: Parameterized robot specification What parameters are required to fully specify a robot? Create a composable that can export...

Last week, I identified that the source of many problems for the composite component interface was the manual serilization of the Blockly workspace. In an effor to rectify this, I spent this week designing and implementing a JSON framework to handle the serialization and deserialization for us. A...