Experiment of November 24th, 2003 : Wean Hall 6th floor
Conducted by Brad Lisien (blisien@andrew.cmu.edu) and Deryck Morales (deryck@cmu.edu)
This experiment was conducted on the 6th floor of Wean Hall here at
Carnegie Mellon
Autonomous Mapping Experiment
Results:
The features are displayed as red stars, with the nodes as blue dots.
The edge maps are aligned over the meet point locations. For clarity, only the
map from lower node indices to higher node indices are shown. Note that the atlas
consists of these maps as well as their corresponding maps from high to low node indices.
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The odometry as referenced in a global frame (the original start location of the robot as the origin).
This is the result of a series of reverse transforms, as the robot resets its frame relative to the meet
points during the mapping process.
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Discussion:
The robot mapped the environment fully autonomously. This means that the robot never prompted for information
of any kind. The assumption made to facilitate this is that the edge maps of the environment are unique.
This is a very good first step towards full autonomy without the unique edge assumption.
Our intervention of the robot is now limited to pausing the procedure due to human traffic, and using the
"bump" mechanism to get the robot over the ramp safely in the four intersections of the hallways and the
elevator area. If the robot were physically capable of making the transition wihtout the ramp, and the
environment could be evacuated and kept empty of people, these interventions could also be eliminated.
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