[Dprglist] Sample Retrieval Clarification

[Thalanayar Muthukumar]

Is there an upcoming competition that is being discussed?
Any details on the competition?
Asking these questions as I am a newbie to this mailing list.

Regards.
- Kumar

On Thu, Jan 24, 2019 at 3:34 PM <dprglist-request at lists.dprg.org> wrote:

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>    1. Re: Sample Retrieval clarification (Doug Paradis)
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> ----------------------------------------------------------------------
>
> Message: 1
> Date: Wed, 23 Jan 2019 17:57:30 -0600
> From: Doug Paradis <paradug at gmail.com>
> To: John Swindle <swindle at compuserve.com>
> Cc: DPRG <dprglist at lists.dprg.org>
> Subject: Re: [Dprglist] Sample Retrieval clarification
> Message-ID:
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> CAOdUW+YoASn00sE8ecVYzYCNW7Z0XsK2f3NKQaFbRbUXijJUyA at mail.gmail.com>
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> John,
>
>     I think first it would be best to think about what type of obstacles
> are likely in the search area of the contest. We will ask spectators to
> move to the edge of the room to give the robots as much room as possible.
> The search area will be most of the room. That means there will be arenas
> (some on tables), chairs, an odd person (judge, or robot owner), and stuff
> I don't currently know about in the room. Of course, there is also the home
> base in the search area. The intent of obstacles is to make finding the
> target objects more difficult than simple straight-line shots. The robot
> will have to "search" to find the objects. I suspect there will be an easy
> target in the mix.
>
>
>
>     Since most of these objects weight substantially more than the robot, I
> suspect that obstacle movement due to the robot will be minimal. My
> thoughts are; if a chair was moved or shoved a bit that would be okay. If
> the robot tried to move a table with an arena or an arena on the floor
> (Can-Can Soccer arena), I would be more concerned. The obstacles shouldn't
> be an issue for the robots to maneuver about the floor. There should be no
> need or reason for shoving things except for poor obstacle detection and
> avoidance. I would not recommend a strategy that required shoving
> obstacles.
>
>
>   BTW, a Neato has excellent obstacle detection and avoidance. Also,
> obstacles will generally (except for people) be static features that could
> be to provide navigation orientation.
>
>
>    Less annoying would be good..., but get'her done. We can hand out ear
> plugs at the competition with proper planning.
>
>
> Regards,
>
> Doug P.
>
>
>
>
> On Wed, Jan 23, 2019 at 2:38 PM John Swindle via DPRGlist <
> dprglist at lists.dprg.org> wrote:
>
> > 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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