UvA Rescue Team 2007 - Bayu Slamet's Log


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Curriculum Vitae of Bayu Slamet

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Publications in Robotics Research

RoboCup Rescue World Championships 2007, Atlanta (GA), USA - Virtual Robots League

UvA Rescue Team Results:

Mapping and Exploration Results

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'.

Features

August 16, 2007

August 15, 2007

August 13-14, 2007

August 12, 2007

August 10-11, 2007

August 9, 2007

August 8, 2007

August 7, 2007

August 6, 2007

August 2, 2007

August 1, 2007

July 25, 2007

July 24, 2007

July 24, 2007

  • Extracted the most challenging loop from the Intel logfile available on Radish:
  • Incremental WSM (left) vs QuadWSM (right):
  • Incremental IDC (left) vs QuadIDC (right):
  • While IDC has a LOT to gain by QuadTrees, WSM only seems to suffer. A close inspection reveals what happens: WSM (too) eagerly attempts to match walls of neighbouring rooms.
  • Note that in the bottom-left corner, QuadWSM detects that it is overshooting and that some 'self-correction' takes place.

    July 23, 2007

  • Results on the tape-loop logfile are much better now. From left to right you see the raw data, the result obtained by QuadIDC and then the result from QuadWSM:
  • This is what regular (incremental) IDC (left) and WSM (right) make of the same logfile:
  • In 'The Park' results are equally impressive. Below a comparison of WSM (left) vs QuadWSM (right):
  • And of course for IDC (left) vs QuadIDC (right):

    July 22, 2007

    July 21, 2007

    July 20, 2007

    July 19, 2007

    July 18, 2007

    July 17, 2007

    July 16, 2007

    July 15, 2007

    July 14, 2007

    July 13, 2007

    July 12, 2007

    July 10, 2007

    July 9, 2007 - Results

    July 8, 2007 - Day 8: Battle for Third Place

    July 7, 2007 - Day 7: Semi Finals

    July 6, 2007 - Day 6: Indoor Scenario

    July 5, 2007 - Day 5: Outdoor Scenario

    July 4, 2007 - Day 4: Indoor Scenario

    July 3, 2007 - Day 3: Mapping Test

    July 2, 2007 - Day 2: Mobility Test

    July 1, 2007 - Day 1: Setup day

    June 30, 2007

    June 29, 2007

    June 28, 2007

    June 27, 2007

    June 26, 2007

    June 25, 2007

    June 24, 2007

    June 23, 2007

    June 22, 2007

    June 21, 2007

    June 20, 2007

    June 19, 2007

    June 18, 2007

    June 16, 2007

    June 15, 2007

    June 13, 2007