Goal

Sharing of persistent data between multiple robots and people in a building.

Requirements

• What information do we need to maintain
  • Map of the building
    • Can contain various overlays: wifi, temperature, activity, etc
    • time stamps and life-long mapping
  • Objects in the building, their state and functionality
    • Robots and their current tasks, people, trash cans, doors, lights, etc
  • Available applications
• Data storage
  • Webbags
    • Robots push bags to webbags
    • Webbag processes can push data into the warehouse
    • We can store bag id’s and offsets for specific data
  • Database backend.
    • Look into no-sql alternatives
    • Mongo
    • Spatial indexing
    • App’s can create their own databases.
  • Localized data...for now
  • We have some temporal considerations
    • timestamp everything
      • some databases have TTL feature
    • probability field for everything
    • How do we handle movement of furniture ( i.e when does a dynamic obstacle become static)?
• Data access
  • Use sql queries.
    • Robots can push data, depending on what app’s it currently running
  • Is all data accessible to everyone and every robot?
    • Yes
  • App running on the building manager can poll robots for state updates

Milestones

• Initial implementation of shared maps
  • Building API
  • shared storage mechanism
• Data updating
  • Allow robots to create and modify data
• Data query
  • Define a mechanism that will allow robots and GUIs to query information about the state of the world

Resources

• Nate: 20%
• Bhaskara:
• Caroline
• Kevin