This week, our team split off and worked on the various parts of the software for the robots. Saral worked on the CV bring-up: specifically the localizer for the robots and pallets. He was able to get the fiducial recognition working so that we can differentiate between pallet types. Omkar worked on getting the feedforward and feedback controller for the robot working so that it can follow a path given positions and timesteps. Prithu worked on the motion and task planner which takes in the robot, pallet, and goal positions, and returns position/time paths for the robots to follow.
We plan on meeting Monday to integrate the code together and run a test of the full system.