Results

Future Work

• Improve Simulation

  • Tune gains on navigation node for proper base movement

  • Implement better arm positioning strategy for block pickup

    • Create preset grasping positions for MoveIt planning

    • Implement inverse kinematics with prioritization of (x, y, z) locations

• Next Steps

  • Implement algorithm on hardware

  • Ensure robustness against additional failure cases

  • Implement collaborative strategy

    • Check for correct block colors in collection pile

    • Remove incorrect blocks and return to collection pile

    • Address cases of obscured blocks with camera tilt or error response

    • Complete collection pile before mimic pile

    • Check other robot's pile for color matching

    • Ensure collaborative robot follows similar strategy

    • Verify mimic pile matches other robot's pile and remains stable to finish game objectives