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Planning coordination between robots in a multi-agent system requires each robot to know the position of the other robots. To address this, the localization server tracked visual fiducial markers attached to the robots and relayed their pose to every robot at a rate of 20Hz using the MQTT communication protocol. The robots used this data to inform a potential fields path planning algorithm and navigate to their target position.
This project was unable to address all of the challenges facing true distributed multi-agent coordination and needed to make concessions in order to meet deadlines. Further research would focus on shoring up these deficiencies and developing a more robust system.
For the purpose of exploring alternative uses for Rolplay’s image processing technology, I have developed a scavenger hunt application that utilizes object detection technology. This concept has been chosen out of three different application concepts that have been created during the first semester of the project. The application runs on Android devices and is written in Java. This application contains a camera display window and a button that the user may press to open the list of items. The list will display each item in the list and whether it has been detected from the camera stream. In addition, the list has a refresh button that will generate a new list of items after it is pressed. This is to allow users to either continue searching for items after every item in the current list has been found. or create a new list entirely if they wish to start over. The application will also detect low light status and display a message prompting the user to turn on their flashlight if low light is detected. During the development process, additional modifications have been made according to feedback from users that have tested the app.