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Goals 1 min read

Project Goals V1.2

Current Project Goals

  1. [ 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.
  2. [ 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.
  3. [ 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.
  4. [ 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.
  5. [ FUTURE ] Run A/B testing to compare to previous results
    • Trial tooling is ready; comparison with data in baseline rosbags still to run.

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