In this project, the robot will be tasked with automating a warehouse. It will have to collect cubes from the pickup zone and deliver them to the storage zone, avoiding the fragile obstacles in the way. The goal is to deliver as many cubes as possible within 5 minutes.
Starting Conditions: The robot will begin near the center of the arena with a random orientation. It will first have to localize itself, then proceed to the pickup zone. Once in the pickup zone, the robot must indicate through an audio cue that it is ready to begin delivery. From that point on, cubes will be placed one at a time within the pickup area for the robot to deliver.
Delivery: Once the delivery process has started (i.e. robot makes the request while in pickup zone), a cube will be placed in the pickup zone. The robot must pick it up and deliver it to the storage zone, avoiding the fragile zone along the way. A new cube will be placed in the pickup zone once the robot leaves the pickup zone with the previous cube. If the robot delivers all 3 cubes that come with the robot, cubes will be removed from the storage area (by hand) one at a time and placed back in the pickup zone for future deliveries. There will be at most two cubes in the storage area at any time. The identity of most of the localization markers remains random and unknown. The cubes will be placed in the Pickup Zone once the robot is ready to receive them. Only one cube will be placed at a time. The robot may enter the Fragile Zone while it is localizing before beginning the delivery process. Once cubes are being delivered, the robot must avoid the fragile zone completely. One can think of this as a safe zone for human workers to walk in. The Storage Zone is the destination for the cubes. The cubes can be placed anywhere in the storage zone as long as at least 50% of the cube is inside the storage zone.
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