Experiment of March 8, 2003 : Wean Hall 6300/6400


Conducted by Deryck Morales (deryck@andrew.cmu.edu) and David Silver(dsilver@andrew.cmu.edu)

These experiments were conducted on the 6th floor of Wean Hall here at Carnegie Mellon

This is the first experiment to complete the mapping of a small tree-like environment (no cycles) in Wean Hall.

The robot traced out the full reduced GVG for its environment. The dotted line shows the path of the robot, while the blue squares represent its final global map.

Many obstacles that the robot used to navigate are only stored temporarily in local maps, and are not recorded in the global map. The scale is in tenths of inches.

Results:

animated slam gif



Discussion

The robot succesfully completed the reduced GVG for this small environment, consisting of one 3-way meetpoint, and 3 boundary nodes.

 

Go back to: H-SLAM Experiments Page | H-SLAM page

Jump to: People | Robots | Research | Events | Projects | Education | Papers | Software | Links

© Copyright 2002 Sensor Based Planning Lab, Carnegie Mellon University. All Rights Reserved.