Perception: What objects, people, or landmarks does the robot need to be able to detect? At what level of precision and temporal continuity do they need to be detected?
The robot's perception system is designed to identify a variety of entities, including ArUco markers, people in motion, chairs, tables, and obstacles. For stationary objects like landmarks and obstacles, it requires a detection precision within a 6-inch margin. This level of precision is critical for the robot's path planning, ensuring that it maintains a central alignment with the tables. Such alignment is crucial for maximizing the robot's ability to detect and interact with temporary objects like toys, which it is specifically designed to collect. On the other hand, mobile and temporary objects necessitate a higher degree of precision due to their dynamic nature, which significantly influences the robot's navigational and operational efficiency. Overall, the robot's perception system must be adept at differentiating between permanent and transient objects in its environment, adjusting its precision as needed to ensure effective navigation and task completion.
Manipulation: What objects or landmarks will the robot need to physically interact with?
The robot is specifically designed to physically interact with toys and clothes, sorting them into designated containers such as laundry baskets and toy boxes. This requires the robot to have a sophisticated manipulation system capable of identifying, picking up, and accurately placing these items into their respective storage areas. The system must be versatile enough to handle the varied shapes, sizes, and materials of toys and clothes, ensuring efficient and precise sorting.
Navigation: What navigational capabilities does the robot need? Does it need to be able to move to arbitrary points on a map? Does it need to precisely position itself relative to landmarks in the environment?
The robot requires advanced navigational capabilities to effectively perform its tasks. It needs to maneuver efficiently between obstacles, ensuring it maintains a clear path while scanning the area for objects that need to be cleaned up. The robot's movement should be strategized to maximize visibility of the floor, which is crucial for its scanning process. This means it must be adept at positioning itself in a way that offers the broadest possible view of its surroundings, particularly the areas where toys and clothes are likely to be found. This approach ensures the robot can identify and reach these items efficiently, navigating around any obstacles in its path. The ability to precisely position itself relative to landmarks in the environment is also important, as it aids in maintaining an optimal cleaning route and enhances its overall efficiency in the space.
Interaction: What state information about the user does the system need to know? What explicit input or commands does the user need to communicate to the robot? What information should the robot communicate back to the user? Which of the above autonomous capabilities might need human monitoring (e.g., to stop the robot immediately if something goes wrong) or human help/control (e.g., take over driving the robot if it gets lost)?
The robot's interaction with the user is streamlined and user-friendly, primarily facilitated through a dedicated app. Users do not need to provide extensive information about their state for the robot to function. The primary mode of interaction involves a simple activation process: users initiate the robot's cleaning operation via a button in the app explicitly labeled for cleaning the room. Once activated, the robot commences its autonomous cleaning tasks. To enhance the user experience and provide a clear indication of task completion, it could be beneficial for the robot to emit a sound or app notification once it has successfully put away all the toys and clothing. This cue would inform the user that the cleaning process is complete, allowing for a clear and direct communication channel between the robot and the user. The app can serve as a vital tool for monitoring the robot's performance and providing remote assistance if needed, ensuring a smooth and efficient operation.
Environment: How do you need to modify the robot's environment to make the above autonomous capabilities possible?
To facilitate the autonomous capabilities of the robot, particularly its navigation and object manipulation tasks, certain modifications to its operating environment are beneficial. The primary consideration is to ensure that the robot's path through the room is not obstructed. While some obstructions like furniture are natural and expected, it's crucial to maintain a clear pathway that allows the robot to make a complete loop around the room. This looping path is essential for the robot to effectively scan the entire area, identify items that need to be picked up, and perform its cleaning tasks efficiently. This means arranging furniture and other large objects in a way that creates a navigable circuit for the robot. It's also advisable to minimize clutter on the floor to prevent the robot from getting stuck or unable to reach certain areas. By optimizing the environment in this manner, the robot can operate at its full potential, ensuring thorough cleaning and efficient operation.