Colony

/**

Optimal Behavior for Mapping

Desired Properties

- Overlapping maps

- Shared origin

 * robots must know where they are in relation to each other

Actual Behavior

- make BOM contact with another robot

 * estimated distance reading would help

- try to follow another robot

 * could parallel path but moved over slightly

   to give a wider view while also corroborating data

 * then treat as leader/follower in actions

 * get groups to link up with each other and then separate to

   establish meeting point between maps

Thoughts on improving overall efficiency

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Robot:

- use a shorter polling interval for rangefinders,

  then average readings between wireless polling intervals

- if the rangefinder value = MAX, then mark it as -1

  so the program doesn't draw that point

- try bursts of data every second or farther apart

  containing multiple data points

 * this reduces stress on wireless timing and allows for

   overhead created by token ring

- one solution to the 'master origin' problem for multiple robots

  is to start each robot at the same point with the same orientation

 * this isn't very useful and takes effort, but it works

 * could also establish an initial offset in robots,

   but accurate initial placement would still be an issue

Server:

- if the rangefinder value = MAX or -1, don't use that point

  or set it to infinity

- if robots have linked as leader/follower pair, use

  one point of origin for both robots

- when two or more robots meet, set one robot as the

  master coordinates, and modify all other robots to use

  those master coordinates

 * easiest is to start a new map with one robot at the origin and

   all others starting based off that robot

 * backdating the coordinate change would be better

 * using both approaches is likely most accurate

*/