Behavior
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…
Blog
Project Updates
Progress notes and project goals from my robotics work, newest first.
Latest
2026
Project Goals V1.2
In progress: Wire tag localization and validate; Develop recovery behavior after trigger; Determine experimental trigger for tag discovery.
1 completed3 in progress1 planned
Project Goals V1.1
In progress: Develop waypoint path, topic messages, and rosbag saving system; Wire tag localization and validate.
2 in progress3 planned
2024
Landmarks
Today I implemented an rfid_landmark node that would publish the transform from the map frame to the PN5180 RFID reader’s frame for rfid detection events. As you can see in the video below, there is a…
Cool Down / Integration
I set up a spare Raspberry Pi 4B+ as a Docker image registry server, configured to run automatically on power-up and accessible over my home Wi-Fi. Additionally, I reinstalled the fan I pilfered from the Pi…
Containerization
This past weekend, I was able to transfer all of the basic code on the turtlebot into a docker container. From there I confirmed the ability to access the relevant topics on my desktop pc on…
Project Goals V1.0
In progress: Containerize rtabmap in VSCode dev container for easier development; Integrate RFID detection events into rtabmap as landmarks.
2 completed2 in progress
First Project Update
I have recently decided to develop a project tracking section for my own personal documentation but also as a cool way to share my work. I will update this periodically with major milestones.
