I realized that reporting artifacts by independent robots is different to Teambase, so here I would like to place some comments. The PR is already in progress, but ...
The rule for the robot was - as you are approaching artifact, ideally detected several times (former version of detector) is the local maxima of certainty (typically very near the artifact). You can see it many times and there can be several such a local maxima, but the first one is probably the best one as the robot position is getting worse over the time and distance traveled.
Now suppose that we have 2 robots, with different localization errors and both see backpack in Cave Simple 1. The position is different by 3 meters. Should we ignore the second report?
Well, without any feedback we should report both, because the first position could be wrong while the second would already fit in 5m radius.
If we have valid score feedback then we may ignore the second report if the first one scored, and try it otherwise.
I realized that reporting artifacts by independent robots is different to Teambase, so here I would like to place some comments. The PR is already in progress, but ...
The rule for the robot was - as you are approaching artifact, ideally detected several times (former version of detector) is the local maxima of certainty (typically very near the artifact). You can see it many times and there can be several such a local maxima, but the first one is probably the best one as the robot position is getting worse over the time and distance traveled.
Now suppose that we have 2 robots, with different localization errors and both see backpack in Cave Simple 1. The position is different by 3 meters. Should we ignore the second report?
Well, without any feedback we should report both, because the first position could be wrong while the second would already fit in 5m radius.
If we have valid
scorefeedback then we may ignore the second report if the first one scored, and try it otherwise.