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SubT Virtual: detect return to base station for long runs #327

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m3d opened this issue Feb 10, 2020 · 0 comments
Open

SubT Virtual: detect return to base station for long runs #327

m3d opened this issue Feb 10, 2020 · 0 comments
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enhancement SubT DARPA Subterranean Challenge
Milestone
SubT Cave

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@m3d
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m3d commented Feb 10, 2020

If the world is relatively small and the robot has code A60F2400L (explore for 40 minutes) then it can happen that robot returns sooner to the base station. The current code would continue and explore the world for the 2nd time.

It would be wiser to detect such case, report found artifacts and stop - it does not have sense to explore the world with the same strategy.

It should be possible to recognize this by distance from DARPA origin (0, 0, 0) - gate entrance, and verified via get_origin.
@m3d m3d added enhancement SubT DARPA Subterranean Challenge labels Feb 10, 2020
@zbynekwinkler zbynekwinkler added this to the Subt Cave milestone Feb 10, 2020
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enhancement SubT DARPA Subterranean Challenge
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SubT Cave
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@zbynekwinkler @m3d