1. Vetovi Presented by: Chris Cruise Major: Mechanical Engineering 4/14/2015

2. Summary Scope: Robots collaborating to navigate a simulated urban environment Hope to gain experience in SLAM, LIDAR, and cooperative systems Two near-identical robots –Localization, Mapping, Communication –Traffic simulation

3. Sensor Package Primary Robot: 1 Lidar Lite Both robots: 2 GY-521 Accelerometer/Gyro 3 HC-SR04 Sonar 3 Limit switches (bump sensors) 3 CdS cells with color filter

4. Missions Collaboratively Map Environment –Achieved using LidarLite to generate a point cloud –Stepper motor reports sensing angle –Accelerometers and Gyros used to provide relative localization from starting location. Use map to plan a path through environment –In progress. Currently, “magnetic attraction” employed Recognize State of Traffic Light –Failed at reasonable distances. Replaced with “vehicle to infrastructure” communication Goal Follow a series of waypoints as quickly as possible. A virtual closed loop will be created.

5. LidarLite Scan Degrees Distance (cm) Chair (Me) Wall Monitor

6. Sonar Return Timing Distance (m) 00.51.52.53.55 (max) Loop time (ms) 4611162030 Loop time for 3 121833486090 Max Frequency (Hz) 805530201611

7. Any Question?