Progress
I finally got the Roomba as well as the webcam and connecting cables delivered to me.
Env-Setup & Data collection
I set up the environment in my basement, with the webcam covering the corner of the room. I tested basic manipulations (driving, rotating, etc.) and realized the odometry is a bit off. I suspect the carpet floor to be the cause. It is still within the requirement (1-ft error after 10m run) but I might need to add some fine tuning to improve the accuracy. I also was able to collect some video data for other teammates to use.
Mapping
Edge following part of the mapping is working fine (with some fine tuning tweaks due to the new environment). Initially, I planned to use multi-goal A* algorithm for mapping. However, it turns out it is unnecessarily complicated for a limited indoor environment. So I am pivoting to lawn-mowing pattern, which works well in a confined space with a few obstacles. The mapping will be done in the early next week.
Deliverables next week
I will complete the 2-D mapping with some limited implementation of path-finding.
Schedule
On schedule.