Alice: Introduction
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This lecture presents an overview of Alice, an autonomous vehicle built by Caltech undergraduates to participate in the 2005 DARPA Grand Challenge. Starting with the high level architecture, we describe some of the design choices that were made in the networked control systems (NCS) architecture and was as summarize the basic operation of the major software modules that are used to implement Alice's autonomous control system. More detailed descriptions of Alice's individual components will be given in future lectures.
Lecture Materials
- Lecture: Alice: A Networked Control System for Autonomous Driving
- Alice movies: NQE clips, GCE clips
Reading
Alice: An Information-Rich Autonomous Vehicle for High-Speed Desert Navigation, Cremean et al. Journal of Field Robotics, 2005 (submitted). This article provides an overview of Alice's architecture and operation. The link takes you to a page on the Team Caltech wiki, with links to additional documentation. Anyone considering working on a project using Alice should read this article.
The RoboFlag Competition, R. D'Andrea and R. M. Murray. American Control Conference, 2003. This article provides a high level overview of the RoboFlag competition, including a summary of the control architecture. More information on RoboFlag is available via the RoboFlag homepage. Anyone considering working on a project using RoboFlag should read this article.
Additional Resources
- Team Caltech homepage - contains movies and other information about the project
- Team wiki - detailed information about Alice, including documentation on hardware and software
- Cornell RoboFlag homepage - documentation and code for RoboFlag
