I have been working on mobile robot navigation for an autonomous service robot project. During the Fall semester, the navigation team was able to successfully enable the robot to navigate the hallways, albeit with quite a bit of last minute hacking. This past semester, I have been continuing work on the navigation system as an independent study research project and I was able to actually achieve robust navigation!
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This project was all about designing a robotic system from the ground up that could do various tasks. We were given a standard hardware platform and had to create all of the core functionalities and integrate them together. I was part of the navigation group and helped give our robots the ability to navigate in the real world. I also worked on designing a framework for specifying complex tasks in a way that the robot could understand and execute.