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PyroKuipersExperiment

1. Pyro Kuipers Experiment

Exercise

  1. Collect data from array of sesnors (say the 16 sonar sensors of a Pioneer)

  2. Compute a matrix of differences: how different are each pair of sensors from each other on any given time step. You should use the sum of squared differences, or sum of absolute value of differences.

  3. Assign each sensor a random place in a 2D plane (X,Y)

  4. Adjust the position of each (X,Y) so that the distances match the differences as closely as possible

http://bobu.brynmawr.edu/~dblank/images/plot.png

One can also do this all at once:

  1. Assign random positions

  2. Collect some data

  3. Compute difference matrix

  4. Adjust the positions to minimize difference between Euclidean distance and difference matrix

  5. Go to Step #2