MeetingMinutes20091104-Formation¶

Circles:
- Assume no walls to block circle
- Decide on "Steady state" for system; when is it done?
- Formation starts with clump or robots
- One robot is chose as center "beacon" robot
- When sent a signal, all edge robots turn to face beacon using BOM
- Once facing center, each edge robot moves forward or backward to a predetermined radius using rangefinders
- After reaching correct distance from beacon, edge robot sends signal back to beacon
- Once all edges have communicated end state with beacon, beacon then has control

Secret Service (Somewhat of an extension of Circles)
- Designated VIP robot stays in one place
- Other robots move to see VIP
- VIP communicates when others are in teh right place
- For movement, other can just copy VIP's movement
  - VIP must be slowed or limited to compensate for awkward mobility issues/holonomic problems
  - Possible solution: Turn stops
- What about error detection?
  - Must consider what to do when movement packets get dropped
  - Possible regrouping states
- Possible order for developing:
  - Follow the leader
  - Body guards
  - Expand from there

Dynamic Formations
- Parametrized(or random?) number of groups to split around obstacle
- Split wireless communication
  - By packet ID
  - By XBEE channel (not optimal)

2hr. Implementation of Circles (Monday 11/9)
- Use code from Lab 2 to turn and face using BOM
- Use beacon robot code for beacon
- Code for moving to correct radius is simple
- Need to write: Communications code
Lemmings
- First robot has smart runaround code
- All other robots have "follow the robot in front of me" code
Flying V
- Modification of Lemmings with adjusted rangefinder values
Orbit Circle
Expand from there

Colony