Challenges

Although the robots form the correct polygon, the system does not settle down, but instead, the robots oscillate around their target location. This is due to the constants ka, kb, and kc we set and the imbalance that they cause when the robots get too clase or too far. We have noticed that they do act according to the ratios between the the constants, but were unable to tweak them the the right settings. In the future we will adjust the constants until the system does not occilate.
The system also needs to be recalibrated each time the robots are connected. This is due to the both the camera's sensitivity to light and the movement of the camera on the robot. While all these factors can be accounted for, through calibration, it is very time consuming and detracts form the robustness of the system. In furure iterations, we would mount the camera to the neato more securely and look into better clairation method for the camera.