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This experiment is an extension of the 03.14.2003 experimental run.
We used the same Nomadic Scout with firewire camera and omni-directional mirror. Our landmarks still took
the form of pink boxes, which were placed throughout each hallway. We used the oracle mechanism to close
the cycles in the topological graph of the environment.
We have enhanced the edge traversing controls to identify weak meetpoints without homing. This has
reduced our average runtime by roughly 30%.
Due to large vertical gaps at certain hallway interfaces, we have implemented a "run blind" toggle that,
when combined with a simple ramp, allows uninterrupted exploration across these interfaces.
We have optimized our probing mechanism to focus attention on the front sonar when taking steps in candidate
edge directions. We also do not probe in the direction from which we have arrived.
We have established the access controller as a safety net; in the case of detecting only one or even
no minima, we are able to recover and resume correct behavior.
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