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

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Owner

RF/Coop SURF, 14 Jun 04 Richard Murray, Caltech 6

Vehicles

Posit’ning

RoboFlag

Team

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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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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