roboflag coop control kickoff meeting
Download
Skip this Video
Download Presentation
RoboFlag/Coop Control Kickoff Meeting

Loading in 2 Seconds...

play fullscreen
1 / 12

RoboFlag - PowerPoint PPT Presentation


  • 193 Views
  • Uploaded on

Richard M. Murray Zhipu Jin Domitilla Del Vecchio Demetri Spanos Ling Shi Vijay Gupta Raktim Bhattacharya? Nicolas Foirien Jeremy Malaize Michael Yeh Hans Scholze (?) Jing Xiong Jon Gibbs Brian Beck

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about 'RoboFlag' - delu


An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript
roboflag coop control kickoff meeting

Richard M. Murray Zhipu Jin Domitilla Del Vecchio

Demetri Spanos Ling Shi Vijay Gupta Raktim Bhattacharya?

Nicolas Foirien Jeremy Malaize Michael Yeh

Hans Scholze (?) Jing Xiong Jon Gibbs Brian Beck

Julia Ma Rajiv Ghanta (Alex Sutherland) (Andrew Kwok)

RoboFlag/Coop Control Kickoff Meeting

meeting goals agenda and notetaker

1:30-1:35

Meeting Goals, Agenda and Notetaker
  • Goals:
    • Get everyone up to speed on overall project goals and timeline
    • Agree on project objectives and decide on teams
  • Agenda:

1:30 Review goals and agenda; select notetaker

1:35 Overview of the plan for the summer

1:45 MVWT project overview: GOTCha, status, timeline charts

2:15 MVWT project infrastructure: bugzilla, wiki

2:35 Schedule for this week + administrative details

2:45 Adjourn

Notetaker: ______________________

    • Record notes and action items from meeting in electronic format
    • Post on project wiki after meeting; send out e-mail with URL
    • Rotate responsibility between group members

Richard Murray, Caltech

summer projects overview

1:35-1:45

Summer Projects Overview

Wk 1

Wk 2

Wk 3

Wk 4

Wk 5

Wk 6

Wk 7

Wk 8

Wk 9

Wk 10

Wk 11

Wk 12

Cooperative Estimation and Sensing(Domitilla, Vijay)

Vision-Based Navigation and Sensing(Sean, Titus)

RoboFlag SURF(Demetri, Ling)

RoboFlag Competition

Richard Murray, Caltech

mvwt ii gotcha chart draft
Goals

Design, implement and document a common MVWT infrastructure that supports 2004 SURF projects

Expand the MVWT facility to include rooftop operation

Objectives

Common software architecture that supports code reuse between hetero-geneous MVWT vehicles

Command and control infrastructure for controlling vehicles, logging data, visualizing system state; compatible with RoboFlag software

12 vehicle capability in 12 Steele, with robust vision-based positioning

24 vehicle capability on Steele roof, with 1 cm accurate positioning

Technical Challenges

Dropped packets in vision system, with little documentation of current configuration

Heterogeneous platforms with custo-mized, legacy software solutions

No identified solution for rooftop positioning system

No dedicated MVWT II team

Approach

Team-oriented organization to work on common infrastructure needs

Use CS/EE/ME 75 project mgmt toolset

Early identification of common architecture, so that tools will fit together

Midterm design review and AFOSR demonstration to drive timeline

1:45-1:50

Updated: 13 Jun 04

MVWT II GOTChA Chart (DRAFT)

Richard Murray, Caltech

mvwt ii project structure

1:50-1:55

Owner

HELP!

Needs work

Interface

Working

Updated: 13 Jun 04

MVWT II Project Structure
  • Work divided into 3 teams
    • Vehicle: HW + inner loop SW
    • Positioning: indoor and outdoor positioning
    • Command & Control: offboard interfaces to testbed

Lab/Roof

Positioning

System

  • Command and
  • Control System
    • Testbed operation
    • Data logging andvisualization
    • RoboFlag API

Vehicle

User Applications (SURF projects)

Richard Murray, Caltech

mvwt ii project timeline draft

Vehicles

Posit’ning

1:55-2:05

Updated: 13 Jun 04

RoboFlag

MVWT II Project Timeline (DRAFT)

Wk 1

Wk 2

Wk 3

Wk 4

Wk 5

Wk 6

Wk 7

Wk 8

Wk 9

Wk 10

Wk 11

Wk 12

Team

6/14

6/21

6/28

7/5

7/12

7/19

7/26

8/2

8/9

8/16

8/23

8/30

 Hovercraft v2a software, 7/9

  • Hovercraft v2b software, 7/23

 System architecture review, 5/23

 System architecture finalized, 7/1

 Review potential roof solutions, 6/17

 Downselect roof selection, 7/9

 Initial root implementation, 7/22

 Vision upgrade, 6/24

RoboFlag Competition

Institute Holiday

 RoboFlag competition #1, 6/16

Final RoboFlag competiion, 8/19 

 Local RoboFlag in svn, 6/18

 RoboFlag on Roof, 7/30

 RoboFlag on MVWT II, 7/9

 Draft team charts, 6/17

 Design review, 7/15

 AFOSR demo, 8/10

 Final team charts, 6/17

Project meetings: Thu, 4-5 pm

Richard Murray, Caltech

team assignments
Vehicle Team

Coordinator: Zhipu, Domitilla

Positioning Team

Coordinator: Demetri, Vijay

Command and Control Team

Coordinator: Ling, Raktim

Assign later

Andrew Kwok

Alex Sutherland

Incoming Brazilian students (?)

2:05-2:15

Team Assignments

Richard Murray, Caltech

multidisciplinary systems engineering status chart

2:15-2:20

Multidisciplinary Systems Engineering Status Chart

Project/Team Meetings

GOTChA Chart

Status Chart

Bugzilla task list

Timeline Chart

Design Specification

Design reviews

Wiki documentation

Tests/Demos

Technical Work

Richard Murray, Caltech

task lists bugzilla
Getting started in Bugzilla

Go to http://grandchallenge.caltech.edu/bugzilla/index.cgi; click on “Create new account”

Team coordinator will assign a task, at which point you can make use of the system

Bugzilla features

Ability to track tasks by project, component, priority, criticality, platform, etc

Ability to assign tasks to individuals and inform via e-mail

Ability to track changes in tasks, including notes and status

Ability to search tasks (open and closed), list dependencies, send e-mail alerts, etc

2:20-2:25

Task Lists: Bugzilla

Richard Murray, Caltech

documentation wiki
Getting started in Wiki

Go to http://www.cds.caltech.edu/~murray/wiki; click on “Create new account”

Enter your name in your team web area to make sure everything is working

Wiki features

Easy, in place editing of web pages using HTML or wiki formatting

Search across content of all web pages on wiki

Revision tracking; can back out changes if needed

Ability to store binary files (pictures, ppt, etc)

Cons

Formatting is a bit limited (w/out HTML)

2:25-2:30

Documentation: Wiki

Richard Murray, Caltech

source code tracking subversion
Subversion: Code Versioning System

Allows multiple people to work on common set of source code

Keeps track of revisions and allows changes to be logged, compared, backed out, merged

Subversion layout (draft)

$SVNHOME/MVWT

hovercraft/

onboard/

offboard/

kelly/

RHEXlib/

RoboFlag/test/

vision/

Getting started in Subversion

Get a CDS computer account

Checkout test library and edit README

Commit changes and resynchronize

More information

http://grandchallenge.caltech.edu/wiki

Use “TeamCaltech” + ____________

Search for “Subversion” and follow directions (replacing sparrow with test)

Action items

Mike Yeh: get RoboFlag copied over and working this week

RF SURFs: make sure you can check out, compile and run on your local machine

2:30-2:35

Source Code Tracking: Subversion

Richard Murray, Caltech

schedule admininstration
Monday, 6/14

1:30 pm Kickoff meeting

3 pm SURF orientation

Tuesday, 6/15

am/pm RoboFlag/MVWT demos

Team meetings

2 pm SURF safety meeting

Wed, 6/16

all day RoboFlag practice, competion

Team meetings

Thu, 6/17

4 pm Project meeting (1 hr)

come prepared to give a 2-3 minute description of activities for the week

Weekly

Wed, 3 pm: CDS tea (food)

Thu, 4 pm: team meetings

Administrative information

Keys to the building/labs, questions about purchases, turning in time cards – see Charmaine (107 Steele)

Offices/desks/computers:

Use library/computer room for now

Computers in 133 and 12 Steel

Buying things

Use CIT stockrooms when possible

Online: Charmaine can purchase

Otherwise: cash/credit + reimburse

OK to purchase anything under $100 w/out asking

PTA: RMM.INFO2-1-AFOSR.COOP

QUESTIONS?

2:35-2:45

Schedule + Admininstration

Richard Murray, Caltech