Latest Project Updates
Project Goals V1.2
September 28, 2026
Current Project Goals
- [ COMPLETED ] Develop waypoint path, topic messages, and rosbag saving system
- Out-and-back Nav2 route with bay stops, messages for uncertainty, corrections, and recovery state, and one-command trials that save a bag, metadata, and metrics.
- [ IN PROGRESS ] Wire tag localization and validate
- Registration mode saves each tag’s map position and wall; a correction node resets the SLAM pose from trusted tag reads. Works in simulation, still needs testing on the real robot.
- [ IN PROGRESS ] Develop recovery behavior after trigger
- Behavior tree pauses, shifts to the wall, sweeps for a tag, corrects, and resumes. Recovered via tag L07 in simulation; still need to handle the open aisle end (wall_lost) and run on the real robot.
- [ IN PROGRESS ] Determine experimental trigger for tag discovery
- Trigger metric u = SQRT(λmax) with a 15cm threshold in simulation. Still need to calibrate it on real-robot covariance data.
- [ FUTURE ] Run A/B testing to compare to previous results
- Trial tooling is ready; comparison with data in baseline rosbags still to run.
Behavior
September 28, 2026
Today’s Summary:
RFID-assisted relocalization: first full run
As of now, I am seeking to tie off my undergrad thesis by approaching this as a system that will seek to relocalize once a threshold of uncertainty has been reached.
Today I implemented RFID tag serialization, to save the locations of tags when detected while mapping. I also added a message and trigger metric for uncertainty ( u = SQRT(λmax) ) which quantifies uncertainty as a distance: one standard deviation of position error along the most uncertain direction (about a 68% chance the true position is within ±u along that axis).
I then simulated a long hallway with tag locations and tested a behavior tree to seek out a tag when u reaches a threshold of 15cm.
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