For the week of July 31st, the main tasks were to finish the fix of the DDSA implementation, gather statistics on how it ran so that it could be compared to the CPFA. However, the DDSA implementation was not running properly after a merge halfway through the week with another DREU intern's addition of path-planning behavior to avoid the center between points (my previous addition only kept the points themselves outside the center). The bug introduced by this merge caused the spiral to be offset by about 1.3 meters to the West and South, and also start larger than intended. This offset severely hampered the effectiveness of the DDSA because it was avoiding several decently-sized clusters that it would normally collect from.
The cause of this behavior wasn't found before Friday, when we were due to give a presentation on our findings so far, with some preliminary statistics collected that day. The DDSA performed extremely poorly in comparison to the CPFA given the state it was in- around 12-13 blocks collected per 30-minute run compared to 50-60 collected by the CPFA in the same amount of time, with the same exact distribution of cubes. The base code, which implements a random walk (Brownian motion-like search) performed slightly worse than CPFA, at 45-55 blocks in a 30 minute round. After the presentation, we took the code for the DDSA alone (not including the center-avoidance code that caused the bug when it was merged in) out of the branch and merged it in with the base code- the problem was fixed and the algorithm performed normally.
0 Comments
Leave a Reply. |
AuthorKelsey Geiger: a maker, learner, teacher, and doer. Proud to be out and proud of her work. Archives
August 2017
Categories |