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by wanderinglight
336 days ago
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Formations in Ketu rely on knowing where nodes need to be placed and which slots in a formation are not filled. Once this is known we translate the nodes towards the assigned slot in each step. When you say "which nodes are rotationally reachable", what does that imply for formations? A node will be assigned a slot and has to move towards it while trying to avoid obstacles. Happy to take a look if you file an issue on Ketu with details. |
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Here, position is essential, while SpinStep is orientational. Each node (e.g., drone) is assigned a target slot in space. Movement is needed — so SpinStep alone wouldn’t currently manage this. It might help decide orientation steps, but not positional navigation or collision avoidance.
Possibilities Going Forward:
We could extend SpinStep toward SE(3) traversal, or write a complementary module. That would involve:
-Pairing quaternions with positional vectors -- which is an awesome upgrade to the SpSt library.
-Defining a traversal condition based on both angular distance and spatial proximity.
-Possibly adding constraints (like occupied/available slots) and collision checks.
Such an approach could lead to a formation coordinator, where:
-Each drone is a node.
-Target positions + orientations define “goal nodes.”
-You route through “pose-space” rather than just physical space.
I'm a little swamped right now. In the days ahead i will be taking a closer look at how to integrate SpinStep with Ketu. It's gonna be fun.
All the best!