This is a test of an omnidirectional robotics platform using Project Tango for localization.
The first run the robot finished offset from where it started, implying there's hysteresis in the localization.
The second test objects where placed closer to the robot so that its depth sensors could get better data. The result was that the robot ended up much closer to where it started.
The system is using MPC (model predictive control) to track through 5 waypoints in the shape of a house.
