My name is Jiarong Qian, a graduate student at the University of Washington major in Electrical Engineering. during the past summer, I have been working on Robotics Middleware Framework (RMF) as part of the Google Summer of Code program.
Robotics Middleware Framework
RMF is a framework that enables cooperation across different robot fleets, doors, and lifts. It handles task queuing, scheduling, and conflict management. More information can be found here. The 3D map used in the demo scenario was edited using traffic editor.
Designed a new hotel RMF demo scenario. Incorporated robot-lift cooperation and inter-platoon cooperation.
Fixed some bugs in traffic_editor.
- Fixed model thumbnails not generated when authors’ names are given.
- Fixed lift information not updated after opening a new project or modifying building level names
- Fixed building failure when the transforms between levels are integers instead of floats.
- Improved lift displays in the editor and fixed lifts being generated at wrong positions.
- Improved the editing of vertices in traffic editor.
Implemented the feature of specifying service level ranges of lifts in traffic editor and generating the world accordingly. The images below are the comparison before and after the implementation.
- Improve the route planning algorithm in rmf_core to support complex maps. Currently, the hotel demo cannot run fully due to the high memory consumption in route planning.
- Add more robot fleets to the demo so that the tasks can be divided more reasonably.
- Improve the object detection and avoidance of the robots so that they do not enter deadlock when the hallway is narrow.