[Dprglist] Sample Retrieval clarification

[John Swindle]

Doug,
For Sample Retrieval:
Is it OK for the robot to shove obstacles, such as chairs, and leave them where they were pushed to (until the judge possibly puts them back)?
Will obstacles (not samples) be at least as far apart as the max allowed dimensions of the robot?
I think I'll do like Neato vacs: constantly keep track of the largest, farthest-away, static reflections, which are assumed to be the walls. That gives orientation, kinda like how competitors square-up with the walls of the arena for some of the contests, but with no assumptions about the arena, just creating signatures, like what Neato does. And use early reflections to identify obstacles. The localizer used to run at about 2kHz which was great for "seeing" around chairs and people and even around corners, but it was annoying. 2kHz is no good for seeing a half-inch-diameter cylinder such as a chair leg. So, I think the mapping part will still be low-frequency (but at much lower volume so it isn't annoying) and the targeting part will be ultrasonic. I think the same emitters and receivers can do both frequency ranges simultaneously.
Still largely armchair stuff.
Later,John Swindle
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