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Mark And Cover (Mac)

Mark And Cover (Mac)By: Yehuda Gan-El, David Yaron, Moran Shochat

Supervisors: Prof. Michael Lindenbaum, Dr. Israel Wagner

Implementing MAC Algorithm using Mobile Robot and Video Camera.

 

 

 

Based on the article "MAC vs. PC" written by I.A. Wagner, M. Lindenbaum & A.M. Bruckstein

Our project goal was to cover ("clean") a given room with a mobile robot. Output is a map of the room and obstacles in it. The implementation followes Mark And Cover (MAC) Algorithm that was introduced in the article mentioned above. A video camera was placed on top of the robot and a grid of fiducials was taped to the ceiling. Images of that grid, taken by the camera, used to correct robot's movement errors.