System Overview

For the general outline of our system, We have a diagram that lays out the communication between sections

System Diagram

In this diagram, you can see that there are 3 main sections:

Path Planning
- Contains the path planner, Neato Driver, and crash handler
State Estimation
- Contains our sensor fusion and Visual odom
Neato Network Communication
- Contains the network startup functionality, and inter-fleet message-passing

This software system interfaces with a physical vaccuum robot that we will occasionally refer to as a “Neato”, which passes our software system sensor data while receiving motor commands. To learn more about each piece, check out the pages under “System”!