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)
RF/Coop SURF, 14 Jun 04 Richard Murray, Caltech 2
Meeting Goals, Agenda and Notetaker
Goals:Get everyone up to speed on overall project goals and timelineAgree 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 formatPost on project wiki after meeting; send out e-mail with URLRotate responsibility between group members
1:30-1:35
RF/Coop SURF, 14 Jun 04 Richard Murray, Caltech 3
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Summer Projects Overview
Wk 1 Wk 2 Wk 3 Wk 4 Wk 5 Wk 6 Wk 7 Wk 8 Wk 9 Wk 10
1:35-1:45
Wk 11 Wk 12
RoboFlag SURF(Demetri, Ling)
Cooperative Estimation and Sensing(Domitilla, Vijay)
Vision-Based Navigation and Sensing(Sean, Titus)
RF/Coop SURF, 14 Jun 04 Richard Murray, Caltech 4
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
Updated: 13 Jun 04 1:45-1:50
RF/Coop SURF, 14 Jun 04 Richard Murray, Caltech 5
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/RoofPositioningSystem
Command andControl System
• Testbed operation• Data logging and
visualization• RoboFlag API
Updated: 13 Jun 04 1:50-1:55
Vehicle
User Applications (SURF projects)
HELP!
Needs work
Working Inte
rfa
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Owner
RF/Coop SURF, 14 Jun 04 Richard Murray, Caltech 6
Vehicles
Posit’ning
RoboFlag
Team
Inst
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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
Project meetings: Thu, 4-5 pm
System architecture finalized, 7/1
Final RoboFlag competiion, 8/19
1:55-2:05Updated: 13 Jun 04
Wk 11 Wk 12
System architecture review, 5/23
AFOSR demo, 8/10 Design review, 7/15
Review potential roof solutions, 6/17 Downselect roof selection, 7/9
Initial root implementation, 7/22 Vision upgrade, 6/24
RoboFlag competition #1, 6/16 Local RoboFlag in svn, 6/18
RoboFlag on MVWT II, 7/9
RoboFlag on Roof, 7/30
Hovercraft v2b software, 7/23
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
Draft team charts, 6/17 Final team charts, 6/17
RF/Coop SURF, 14 Jun 04 Richard Murray, Caltech 7
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
RF/Coop SURF, 14 Jun 04 Richard Murray, Caltech 8
Multidisciplinary Systems Engineering Status Chart
Timeline Chart
Technical Work
GOTChA Chart Status Chart Bugzilla task list
Project/Team Meetings
Wiki documentation Tests/DemosDesign reviews
2:15-2:20
Des
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Spe
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cati
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RF/Coop SURF, 14 Jun 04 Richard Murray, Caltech 9
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
RF/Coop SURF, 14 Jun 04 Richard Murray, Caltech 10
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
RF/Coop SURF, 14 Jun 04 Richard Murray, Caltech 11
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
RF/Coop SURF, 14 Jun 04 Richard Murray, Caltech 12
Schedule + Admininstration
Monday, 6/141:30 pm Kickoff meeting3 pm SURF orientation
Tuesday, 6/15am/pm RoboFlag/MVWT demos
Team meetings2 pm SURF safety meeting
Wed, 6/16all day RoboFlag practice, competion
Team meetings
Thu, 6/174 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