Robot Autonomy I

Final Project Presentation

Fall 2022

Team 10 - Aaron Garza, Gabe Mudel, Michael Phan, Sarthak Consul

Overview

Baseline Software Stack | Objects | FSM

Design Decisions Explorer | Rescuer

Highlights Autonomous Exploration | RVIZ

Details Extensions
Baseline Navigator: Manages direct control inputs to
the robot

- Subscribes to goal poses

- Publishes dilated map

Supervisor: Manages immediate goals of the

robot (i.e. exploring, rescuing, picking-up)

Software Stack - Subscribes to object detector, robot

location, and rescuable objects
- Publishes rescue locations
Baseline Rescuable Objects

- Stop Sign
- Cat
- Person
- Potted Plant
- Fire Hydrant
- Bus

Other Objects

- Stop Light
 Initialize

Baseline

FSM - navigator.py
 Initialize

Baseline

FSM - supervisor.py
Design Decisions Automatically navigates to points to explore
the map and objects

Publishes a new location once the robot has

gone from MODE.PARK to MODE.IDLE

Fixed set of locations

Returns to start after exploring

Explorer - frontier_explorer.py
Design Decisions Receives a list of all possible objects to
rescue from supervisor.py

User input to determine which objects to

rescue

Publishes this to a list that is read by

supervisor.py

Rescuer - rescuer.py Returns to start

Details Planned Path

Smoothed Path

Base Footprint

Laser Ranges

Dilated Map
RVIZ
Details Using TSP to find the fastest rescue route
(15%)

Map dilation (10%)

Detecting humans and animals and

dynamically reconfiguring the control limits
(10%))

Extensions Publishing a “meow”/“woof” when your

robot detects a cat/dog (10%)