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Project Goals V1.1

Current Project Goals

1. [ IN PROGRESS ] Develop waypoint path, topic messages, and rosbag saving system
   • Create experimental path, create message types for uncertainty, corrections, and recovery state.
2. [ IN PROGRESS ] Wire tag localization and validate
   • Extend system to save tag detections as waypoints with detection radius and test covariance minimization
3. [ FUTURE ] Develop recovery behavior after trigger
   • How does the robot find the tags to recover?
4. [ FUTURE ] Determine experimental trigger for tag discovery
   • Running in waypoint path, find high and low covariance values to calibrate when recovery should happen
5. [ FUTURE ] Run A/B testing to compare to previous results
   • Comparison with data in baseline rosbags