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ut_austin_aces3

Author(s)
Beeson, Patrick
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CC0 1.0 Universal http://creativecommons.org/publicdomain/zero/1.0/
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Description
3rd floor of ACES building on UT Austin campus. The environment is basically a square with a cross that divides it into 4 smaller squares. The exploration first takes the outer loop, then divides the loop into 2 rectangles, then goes back to the middle and divides it again into the 4 squares. Robot performs autonomous midline following, rotates around at intersections for our topological implementations. The outer square is ~40 meters across. Max laser reading is 50 meters (anything over 49.5 is maxed out). Robot is an IRobot Magellan Pro. Action model of our robot has been experimentally validated as a Gaussian with mean (0,0,0). Sigmas are as follows: For every 1 meter forward, sigma_forawrd=0.4 For every 1 meter forward, sigma_normal=0.2 For every radian turned, sigma_rotate=0.8
Date issued
2010-12-07
URI
http://hdl.handle.net/1721.1/62260
Keywords
2D sensor data, Indoor sensor data, SICK laser range finder

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