Arena Setup Complete

Finally the arena is functional. The complete feedback system is working:

• cameras gett a birdview image of the arena;
• each robot carry a marker which are tracked on the arena image;
• the position and orientation measured with ARToolkit are fed into a Kalman Filter;
• the filtered position and velocity of the robots are published to other programs;
• a path following program compute velocity and steer corrections to keep a robot over a path with a controled velocity;
• these commands are sent via a xbee to the robots;
• each robot carry an arduino fio that command two motors (steer and throttle).