- Current Risks and Mitigation
- There is a risk that the WiFi on campus will not be consistent enough for our latency requirements. One contingency plan we have is to place a cellphone with a hotspot onboard the robot if the campus WiFi is not satisfactory. But this likely has implications for our ROS network since it would traditionally run in a local area network.
- Another risk is that localization algorithms may not work on campus. A mitigation plan is to test building a map on campus using an Intel Realsense before ordering parts, so we can finalize the correct sensor modalities. Contingency plan is to use fiducial markers.
- Changes to System Design
- Changed our design from 2 motors per driver to 1 motor per driver based on feedback from Prof. Kim. Using multiple motors on a driver would make accounting for any minor differences between motors very difficult.
- Decided on WiFi over LTE as our target for low-level communication protocol based on the suggestion from Prof. Kim that it is simpler to integrate into our robot.
- Schedule Changes
- No changes to our schedule this week.
- Progress Pictures
Carnegie Mellon ECE Capstone, Spring 2021 | Michael Li, Sebastian Montiel, Advaith Sethuraman