Jai Madisetty’s Status Report for 4/23

This week, I worked mainly on getting the path planning software coded up. However, due to a problem with getting a SLAM cartographer integrated with ROS, I was not able to take into consideration inputs from the SLAM subsystem. Thus, I also helped Keshav with the SLAM integration. We did eventually get the cartographer working; however, the localization of the robot within the created map is very inaccurate. We do plan on using sensor readings from the robot (odometer and possibly infrared sensors) to improve the localization. After we improve the localization, I plan on utilizing SLAM inputs (frontier of open areas in map) in the path planning for robustness.