|Blue = unexplored area, White = explored area, Green = explored area that is cleared of victims, Black = detected obstacles (walls. furniture, debris, etc.)|
Indoor area, 2 robots, 276 m2.
This very high quality map was acquired in the 3rd preliminary. We deployed 2 Pioneers that each explored a different part of the building. Their findings have been communicated to our Operator through the simulated Wireless Communication Server which only has limited band-width.
Indoor area, 4 robots, 283 m2.
This is the map we delivered for the first round of the semis. It demonstrates the scalability of our system to 4 robots and also the robustness of our mapping algorithm that is able to successfully merge the findings of 4 robots into a single high quality map.
Outdoor area, 4 robots, 1431 m2.
This seemingly less quality map covers about 5 times the amount of area as we had until now. Our robots were able to explore this much area by making effective use of their communication capabilities. The robots that got furthest lost contact with the base-station due to the limited range of the wireless network. However, our system is capable to reach beyond this limitatoin by using robots as intermediate 'hubs'.
~\USARBot\Classes\RangeSensor.uc (33), function GetRange().
~\USARBot\Classes\INSSensor.uc (183), Mean and Sigma variables in defaultproperties. The current implementation is reasonable as it uses Gaussian noise already (as opposed to the range scanner which uses uniform noise) and also the noise is applied to rotation and translation separately. Possible shortcomings are that the same noise model is applied to both rotation and translation and that it may be easier to apply the noise client-side so switching is easier.
~\USARBotAPI\Classes\ComServer.uc (469), the eCutOff variable in defaultproperties.
~\USARBot\Classes\USARComServer.uc (124), function isReachable(), such that it always returns true.