---
# System prepended metadata

title: Meeting 9/11/21
tags: [meeting-notes]

---

---
title: Meeting 9/11/21 
tags: meeting-notes
---
# Meeting 9/11/21 

### General Action Items
- Fill out [Github form](https://forms.gle/b84vftCSDLFosxMa7) to get access to github
- Fill out the [whenisgood](http://whenisgood.net/eatdteg) form to share your availibility
- Join the software role in the #roles channel to get announcements and notifications regarding software stuff (feel free to mute other subteam categories to limit "spam notifs")
### Discussion 
- [ ] Get to know the team and what they're interested in (If you're not on here, add yourself to this list please)
    - High-level 
        - Add here 
    - Navigation 
        - Ashvin,Stuti, Alice
    - Localization 
        - Evan,Stuti, Allison
        
    - Task-level Control 
        - Ashvin
    - Low-level 
        - Add here
    - Interested in doing all
        - Raghava, Naren
- [ ] Discuss some subareas more in-depth
    - High-level 
        - Looking into mapping out all the states the robot could be in a behavior tree or finite state machine
            - [Tutorial by robotic sea bass](https://roboticseabass.com/2021/05/08/introduction-to-behavior-trees/)
    - Navigation 
        - Localizing craters + rocks 
            - Using a neural network and SOTA object detection pipelines to detect craters 
                - Pretrained models for transfer learning: YOLO, ImageNet, ResNet50 
                - How would we collect a dataset?
                - Can our network generalize? One-shot learning because we cannot access image space "on the moon"
                - Domain randomization?
            - Use image processing algorithms that are robust enough to detect circular crater region (2-3 points of crater is enough to localize it with depth camera)
        - Generating an optimal path around discovered obstacles (being able to update the path as new obstacles are localized)
            - Spline generation?
            - RRT? A-star?
            - Going simple first with just following a tutorial
                - [A-star with Turtlebot](https://github.com/aarjunsrinivasan/A-Star-using-TurtleBot-ROS)
                    - Uses ROS melodic, unsure if it works on noetic, but it should
    - Localization 
        - BLE sensor
            - Trying to get things working with phones + raspberry pi to minimize assumptions
            - TODO: Need more accurate info on wifi/bluetooth drivers
                - Use Jetson Xavier NX, maybe their datasheet has details? 
    - Task-level Control 
        - Pretty much fully dependent on exdep downselection
        - Drivetrain needs encoders on their motors for velocity feedback + control (can use T265 localization to help out here as well) 
        
### Future Discussion

#### General

- How is the wiki? Too complex? Not enough info? Too vague?
- BIDC access

#### High-level

#### Navigation 

#### Localization 

#### Task-level Control 

#### Low-level 
