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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

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RoboFlag/Coop Control Kickoff Meeting

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  1. 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

  2. 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

  3. 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

  4. 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

  5. 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

  6. 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

  7. 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

  8. 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

  9. 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

  10. 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

  11. 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

  12. 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

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