Murray Wiki - User contributions [en]

IEEE Proceedings Paper on Concensus and Cooperative Control

2005-04-12T20:11:45Z

Demetri:

Consensus and Cooperation in Multi-Agent Networked Systems

The availability of low cost, high bandwidth, wireless communications
between independent computing systems has enabled new approaches to
cooperation between multi-agent systems performing a common task. In
situations where the tasks involve motion control or other non-trivial
process dynamics, the overall stability and performance of the cooperative
system is dependent on the interaction between the topology of the
information flow between the agents (who talks to who) as well as the
individual dynamics of the agents. In this paper we explore two
representative problems---consensus and formation control---and their
applications in control of networked, multi-vehicle systems performing
cooperative tasks.

Consensus refers to the problem of a set of distributed computers agreeing
on some common quantity. The simplest version of this problem, which we
call average consensus, requires the agents to agree on the average value
of a set of quantities that are known to each individual agent. In
vehicle applications, this often must be done in the presence of varying
information topology, for example when a collection of robots are trying
to agree on the position of a sensed object while moving and changing the
topology of their wireless network connections. We present a framework
for studying the concensus problems that models the information flow using
the graph Laplacian and gives a provably correct consensus protocol in the
presence of switching topology and delays.

Using the same graph theoretic methods, we also consider the the problem
of cooperation among a collection of vehicles performing a shared task
using intervehicle communication to coordinate their actions. We provide
a Nyquist-like criterion that uses the eigenvalues of the graph Laplacian
matrix to determine the effect of the graph on formation stability. We
also demonstrate how to use concensus to improve the performance of the
system, by supplying each vehicle with a common reference to be used for
cooperative motion. A separation principle that states that formation
stability is achieved if the information flow is stable for the given
graph and if the local controller stabilizes the vehicle. The information
flow can be rendered highly robust to changes in the graph, thus enabling
tight formation control despite limitations in intervehicle communication
capability.

I. Introduction and Motivation

II. Basic Tools

III. Consensus

IV. Cooperation

V. Future Directions

--

== Topics ==
1. Nyquist/Laplacian ] Fiedeler vectors -> decomposition
2. Consensus/balanced graphs ] of multi-agent groups
3. Switching (incl. Ali, Moreau) ]
4. Performance (lambda_2, feedfwd, etc)
5. Distributed information processing
6. Tools: graph theory, stochastic matrices, Lyapunov
7. Asynchronous consensus (Mesbahi)
8. Alignment in flocking (proximity graphs, post-induced graphs)

= Annotated Bibliography =

The references below represent a collection of papers that have been
important in the development of results in consensus and cooperation
combining ideas from dynamical systems, graph theory, and control. We
focus on work that explicitly addresses the interaction between the dynamcis
of the agents and the topological structure of the information flow.

The references are broken up roughly by different groups and represented in
rough chronilogical order. We have grouped collections of conference and
journal papers on the same subject together.

== Vicsek et al, Flocking ==

* Vicsek, T. and Cziro\'{o}k, A. and Ben-Jacob, E. and Cohen, I. Shochet, O.
Novel type of phase transition in a system of self-deriven particles,
Physical Review Letters, 75(6):1226--1229, 1995.

This is widely cited in many areas. It only provides numerical simulations
with no analytical results. However, it did start a great interest in
understanding flocking behavior. A nonlinear alignment rule is
simulated. The reasons behind the phase transition has to do with
connectivity of Erdos-Renyi random graphs. Unfortunately, the authors miss
this point and provide a different explaination for a phase transition
pheonamenon that is later disputed by other physicists including Toner and
Tu (1998). We do not need to state Vicsek's explanation for the phase
transition phenomenon. We can only explain their protocol and model properly
and briefly mention its connection with random networks.

== Tabuada ==

* P. Tabuada, G. J. Pappas, and P. Lima.
Feasible formations of multi-agent systems. In Proceedings of the American
Control Conference, pages 56Ð61, 2001.

== Fax et al, Information Flow ==

* IFAC conference papers

* Fax, J. A. and Murray, R. M.

Information flow and cooperative control of vehicle formations, The
IEEE Transactions on Automatic Control, 49(9):1465--1476, 2004.

Basic idea of Laplacian feedback, associated performance issues with Nyquist
plot and eigenvalue placement based on spectral properties of Laplacian.
Explicit modeling of information states and communication in feedback.

== Olfati-Saber, Consensus ==

* Olfati-Saber, R. and Murray, R. M.
Consensus protocols for networks of dynamic agents, Proc. of the
American Control Conference, 2003.

* Olfati-Saber, R. and Murray, R. M.
Consensus problems in networks of agents with switching topology and
time-delays}", IEEE Transactions on Automatic Control, 49(9):1520--1533, 2004.

Laplacian feedback for average consensus, notion of balanced graph;
performance on unstructured graph quantified by lambda2 and robustness to
time-delay and switching discussed. Use of distributed feedback for a
computational purpose.

The 2003 ACC is the first paper that formally defines consensus problems for
networked dynamic systems and poses a more general $\chi$-consensus problem.
All nodes of the network reach an agreement regarding the value of
$\chi(x_1,x_2,\ldots,x_n)$. This also the first paper to analyze both linear
and nonlinear consensus algorithms that solve avergare-consensus
problems. The consensus problems with time-delays are discusses without a
need to use a Nyquist criterion. The spectrum of Laplacian has sufficient
information regarding the speed of converegence and toleraance to
time-delays. All analysis is for a \emph{fixed topology}.

The journal paper brings up the importance of sufficient and necessary
condition for solvability of average-consensus problems. The network
necessarily has to be a \emph{balanced graph}. This also allows extension of
the role of $\lambda_2$ to digraphs. Performance issues for networks with
switching topologies are covered in this paper. This amounts to macro-scale
switching of $\Gamma_k$'s in \cite{Jadbabaie_Lin_Morse:2003}.

* R. Olfati-Saber
Ultrafast Consensus on Small-World Networks, American Control Conference, 2005.

"Phase-transition" behavior in lambda2 under random re-wiring of network (a
la steve strogatz).

This paper demonstrates that small-world networks that are quasi-random have
incredibly high $\lambda_2$'s. For example, a Watts-Strogatz model with link
random rewiring probability of $p=0.9$ and $n=1000$ nodes has a $lambda_2$
that is 1500 larger than a ring lattice with 1000 nodes and node degree $10$
(total of 5000 links in both). This is a new development in design of
ultrafast networks.

== Jadbabaie ==

* Jadbabaie, A. and Lin, J. and Morse, A. S.

Coordination of groups of mobile agents using nearest neighbor rules,
IEEE Trans. on Automatic Control, 48(6):988--1001, 2003.

Convergence/alignment in mobile agents; essentially a special case of a
consensus problem with topology induced by positions.

Paper \cite{Jadbabaie_Lin_Morse:2003} (read): This is the first paper that
analyzes the case of alignment under switching topology with the property
that connectivity of aggregate graphs $\Gamma_k$ (union of graphs) on
intervals of length $T \gg \delta$ ($\delta$ is the integration step-size)
is sufficient to guarantee convergence to some common value. No performance
analysis is provided. The main tool is the use of Wolfovitz's lemma that is
quite well-known in Ergodicity Theory. [Olfati]

Remark: The authors misrepresent the work of Viscek perhaps
unknowingly. Viscek's paper implements a nonlinear consensus algorithm,
whereas the entire analysis of Jadbabaie et al. is on switched linear
systems. Furthermore, in Viscek's model the position of the agents plays an
important role. In \cite{Jadbabaie_Lin_Morse:2003}, the agents only have a
heading angle and no position. We need to find a politically correct way to
clarify such issues without direct reference to inconsistencies. The best
way is to explain Viscek's model properly as it is rather than point out the
inconsistencies.

== Moreau ==

* Moreau, Luc
Leaderless coordination via bidirectional and unidirectional
time-dependent communication. IEEE Conference on Decision and Control,
2003

* Moreau, Luc (Sidmar)
Stability of continuous-time distributed consensus
algorithms IEEE Conference on Decision and Control, 2004

* Moreau, Luc
Stability of multiagent systems with time-dependent
communication links, IEEE Transactions on Automatic Control,
50(2):169--182, 2005.

Convergence with time-delay under unidirectional interconnection with
possibly asymmetric time-delays.

This paper provides a powerful tool for converegence analysis of linear \&
nonlinear consensus protocols in presence of microscale switching and
time-delays. The results are far more general than the ones in
\cite{Jadbabaie_Lin_Morse:2003}. This analysis can also be used for
convergence of asynchronuous consensus algorithms.

== Olfati-Saber, Flocking ==

* Olfati-Saber, R.
Flocking for Multi-Agent Dynamic Systems: Theory and
Algorithms, IEEE TAC (accepted), 2005.

Paper \cite{Olfati:CDSTR04-005} (read): This paper provides flocking
algorithms that heavily rely on velocity consensus algorithms for design of
a dissipative particle systems that performs flocking behavior with
analytical guarantees. The networks all are spatially induced and have a
switching topology.

== Mesbahi ==

* Y. Hatano and M. Mesbahi
Agreement over random networks IEEE Conference
on Decision and Control (CDC), 2004

* M. Mesbahi
On state-dependent dynamic graphs and their controllability
properties. IEEE Conference on Decision and Control (CDC), 2004

Consensus with stochastic topology switching, not necessarily all connected
graphs in transient.

== Xiao/Boyd ==

* L Xiao and S. Boyd
Fast linear iterations for distributed averaging,
Systems \& Control Letters, 52:65--78, 2004.

Optimizes lambda2 using SDP... recent results (infocom 05) allow this to be
done in a distributed way using Kempe's algorithm for calculation of the
Fiedler vector.

This paper uses the average-consensus framework in
\cite{Olfati_Murray:ACC03a} combined by an LMI framework that solves the
problem of optimization of weights of a network with a fixed set of links to
maximize $\lambda_2$. This is a central algorithm that is not useful for
networks but is good for designing Markov chain with slighter higher mixing
rates. The gain in increase of $\lambda_2$ is moderate (2 or so).

== Ren and Beard et al ==

* Wei Ren, Randal W. Beard
"Consensus Seeking in Multi-agent Systems Using
Dynamically Changing Interaction Topologies," IEEE Transactions on
Automatic Control, (to appear)

* Wei Ren, Randal W. Beard, Timothy W. McLain
"Coordination Variables and
Consensus Building in Multiple Vehicle Systems,'' Block Island Workshop on
Cooperative Control, Editors Vijay Kumar, Naomi Leonard, A. Stephen Morse,
Lecture Notes in Control and Information Systems, vol. 309,
Springer-Verlag, p. 171--188, 2004.

== Leonard ==

Cooperative control based on distributed gradient computations.

== Spanos ==

Consensus tracking with network reconfiguration, split/rejoin and robustness
to arbitrary time-delay w/ small gain thm. (note: all bidirectional)

Spanos, Olfati-Saber, Murray IPSN '05 (read): This paper provides a
promising direction for application of consensus algorithms in distributed
Kalman filtering and sensor fusion. This is what I meant by collaborative
information processing.

== Tsitsiklis et al. ==

Application of parallel/distributed computing techniques to analyze
convergence in general asynchronous setting (no specification of computing a
particular quantity, e.g. average).

== Actions ==
1. Assemble bibliography
* Send papers to Richard by Mon, 5 pm
* Post to wiki (Demetri)

2. Pick subset to cover ] Meet in ~2 weeks
3. Common notation/language ] 18 Apr
4. Common problems ]

5. List tools ] Meet in ~2 weeks
6. Diversions/open problems ] 6 May
7. Outline ]

8. Write ] Finish by 6/15/05

Compelling benchmark problem
* perhaps something that might be mobile sensor network

IEEE Proceedings Paper on Concensus and Cooperative Control

2005-04-12T20:01:15Z

Demetri:

Consensus and Cooperation in Multi-Agent Networked Systems

The availability of low cost, high bandwidth, wireless communications
between independent computing systems has enabled new approaches to
cooperation between multi-agent systems performing a common task. In
situations where the tasks involve motion control or other non-trivial
process dynamics, the overall stability and performance of the cooperative
system is dependent on the interaction between the topology of the
information flow between the agents (who talks to who) as well as the
individual dynamics of the agents. In this paper we explore two
representative problems---consensus and formation control---and their
applications in control of networked, multi-vehicle systems performing
cooperative tasks.

Consensus refers to the problem of a set of distributed computers agreeing
on some common quantity. The simplest version of this problem, which we
call average consensus, requires the agents to agree on the average value
of a set of quantities that are known to each individual agent. In
vehicle applications, this often must be done in the presence of varying
information topology, for example when a collection of robots are trying
to agree on the position of a sensed object while moving and changing the
topology of their wireless network connections. We present a framework
for studying the concensus problems that models the information flow using
the graph Laplacian and gives a provably correct consensus protocol in the
presence of switching topology and delays.

Using the same graph theoretic methods, we also consider the the problem
of cooperation among a collection of vehicles performing a shared task
using intervehicle communication to coordinate their actions. We provide
a Nyquist-like criterion that uses the eigenvalues of the graph Laplacian
matrix to determine the effect of the graph on formation stability. We
also demonstrate how to use concensus to improve the performance of the
system, by supplying each vehicle with a common reference to be used for
cooperative motion. A separation principle that states that formation
stability is achieved if the information flow is stable for the given
graph and if the local controller stabilizes the vehicle. The information
flow can be rendered highly robust to changes in the graph, thus enabling
tight formation control despite limitations in intervehicle communication
capability.

I. Introduction and Motivation

II. Basic Tools

III. Consensus

IV. Cooperation

V. Future Directions

--

== Topics ==
1. Nyquist/Laplacian ] Fiedeler vectors -> decomposition
2. Consensus/balanced graphs ] of multi-agent groups
3. Switching (incl. Ali, Moreau) ]
4. Performance (lambda_2, feedfwd, etc)
5. Distributed information processing
6. Tools: graph theory, stochastic matrices, Lyapunov
7. Asynchronous consensus (Mesbahi)
8. Alignment in flocking (proximity graphs, post-induced graphs)

= Annotated Bibliography =

The references below represent a collection of papers that have been
important in the development of results in consensus and cooperation
combining ideas from dynamical systems, graph theory, and control. We
focus on work that explicitly addresses the interaction between the dynamcis
of the agents and the topological structure of the information flow.

The references are broken up roughly by different groups and represented in
rough chronilogical order. We have grouped collections of conference and
journal papers on the same subject together.

== Vicsek et al, Flocking ==

* Vicsek, T. and Cziro\'{o}k, A. and Ben-Jacob, E. and Cohen, I. Shochet, O.
Novel type of phase transition in a system of self-deriven particles,
Physical Review Letters, 75(6):1226--1229, 1995.

This is widely cited in many areas. It only provides numerical simulations
with no analytical results. However, it did start a great interest in
understanding flocking behavior. A nonlinear alignment rule is
simulated. The reasons behind the phase transition has to do with
connectivity of Erdos-Renyi random graphs. Unfortunately, the authors miss
this point and provide a different explaination for a phase transition
pheonamenon that is later disputed by other physicists including Toner and
Tu (1998). We do not need to state Vicsek's explanation for the phase
transition phenomenon. We can only explain their protocol and model properly
and briefly mention its connection with random networks.

== Tabuada ==

* P. Tabuada, G. J. Pappas, and P. Lima. Feasible formations of multi-agent
systems. In Proceedings of the American Control Conference, pages 56Ð61,
2001.

== Fax et al, Information Flow ==

* IFAC conference papers

* Fax, J. A. and Murray, R. M., Information flow and cooperative control of
vehicle formations, The IEEE Transactions on Automatic Control,
49(9):1465--1476, 2004.

Basic idea of Laplacian feedback, associated performance issues with Nyquist
plot and eigenvalue placement based on spectral properties of Laplacian.
Explicit modeling of information states and communication in feedback.

== Olfati-Saber, Consensus ==

* Olfati-Saber, R. and Murray, R. M., Consensus protocols for networks of
dynamic agents, Proc. of the American Control Conference, 2003.

* Olfati-Saber, R. and Murray, R. M., Consensus problems in networks of
agents with switching topology and time-delays}", IEEE Transactions on
Automatic Control, 49(9):1520--1533, 2004.

Laplacian feedback for average consensus, notion of balanced graph;
performance on unstructured graph quantified by lambda2 and robustness to
time-delay and switching discussed. Use of distributed feedback for a
computational purpose.

The 2003 ACC is the first paper that formally defines consensus problems for
networked dynamic systems and poses a more general $\chi$-consensus problem.
All nodes of the network reach an agreement regarding the value of
$\chi(x_1,x_2,\ldots,x_n)$. This also the first paper to analyze both linear
and nonlinear consensus algorithms that solve avergare-consensus
problems. The consensus problems with time-delays are discusses without a
need to use a Nyquist criterion. The spectrum of Laplacian has sufficient
information regarding the speed of converegence and toleraance to
time-delays. All analysis is for a \emph{fixed topology}.

The journal paper brings up the importance of sufficient and necessary
condition for solvability of average-consensus problems. The network
necessarily has to be a \emph{balanced graph}. This also allows extension of
the role of $\lambda_2$ to digraphs. Performance issues for networks with
switching topologies are covered in this paper. This amounts to macro-scale
switching of $\Gamma_k$'s in \cite{Jadbabaie_Lin_Morse:2003}.

* R. Olfati-Saber, Ultrafast Consensus on Small-World Networks, American
Control Conference, 2005.

"Phase-transition" behavior in lambda2 under random re-wiring of network (a
la steve strogatz).

This paper demonstrates that small-world networks that are quasi-random have
incredibly high $\lambda_2$'s. For example, a Watts-Strogatz model with link
random rewiring probability of $p=0.9$ and $n=1000$ nodes has a $lambda_2$
that is 1500 larger than a ring lattice with 1000 nodes and node degree $10$
(total of 5000 links in both). This is a new development in design of
ultrafast networks.

== Jadbabaie ==

* Jadbabaie, A. and Lin, J. and Morse, A. S., Coordination of groups of
mobile agents using nearest neighbor rules, IEEE Trans. on Automatic
Control, 48(6):988--1001, 2003.

Convergence/alignment in mobile agents; essentially a special case of a
consensus problem with topology induced by positions.

Paper \cite{Jadbabaie_Lin_Morse:2003} (read): This is the first paper that
analyzes the case of alignment under switching topology with the property
that connectivity of aggregate graphs $\Gamma_k$ (union of graphs) on
intervals of length $T \gg \delta$ ($\delta$ is the integration step-size)
is sufficient to guarantee convergence to some common value. No performance
analysis is provided. The main tool is the use of Wolfovitz's lemma that is
quite well-known in Ergodicity Theory. [Olfati]

Remark: The authors misrepresent the work of Viscek perhaps
unknowingly. Viscek's paper implements a nonlinear consensus algorithm,
whereas the entire analysis of Jadbabaie et al. is on switched linear
systems. Furthermore, in Viscek's model the position of the agents plays an
important role. In \cite{Jadbabaie_Lin_Morse:2003}, the agents only have a
heading angle and no position. We need to find a politically correct way to
clarify such issues without direct reference to inconsistencies. The best
way is to explain Viscek's model properly as it is rather than point out the
inconsistencies.

== Moreau ==

* Moreau, Luc, Leaderless coordination via bidirectional and unidirectional
time-dependent communication. IEEE Conference on Decision and Control,
2003

* Moreau, Luc (Sidmar) Stability of continuous-time distributed consensus
algorithms IEEE Conference on Decision and Control, 2004

* Moreau, Luc, Stability of multiagent systems with time-dependent
communication links, IEEE Transactions on Automatic Control,
50(2):169--182, 2005.

Convergence with time-delay under unidirectional interconnection with
possibly asymmetric time-delays.

This paper provides a powerful tool for converegence analysis of linear \&
nonlinear consensus protocols in presence of microscale switching and
time-delays. The results are far more general than the ones in
\cite{Jadbabaie_Lin_Morse:2003}. This analysis can also be used for
convergence of asynchronuous consensus algorithms.

== Olfati-Saber, Flocking ==

* Olfati-Saber, R., Flocking for Multi-Agent Dynamic Systems: Theory and
Algorithms, IEEE TAC (accepted), 2005.

Paper \cite{Olfati:CDSTR04-005} (read): This paper provides flocking
algorithms that heavily rely on velocity consensus algorithms for design of
a dissipative particle systems that performs flocking behavior with
analytical guarantees. The networks all are spatially induced and have a
switching topology.

== Mesbahi ==

* Y. Hatano and M. Mesbahi, Agreement over random networks IEEE Conference
on Decision and Control (CDC), 2004

* M. Mesbahi, On state-dependent dynamic graphs and their controllability
properties. IEEE Conference on Decision and Control (CDC), 2004

Consensus with stochastic topology switching, not necessarily all connected
graphs in transient.

== Xiao/Boyd ==

* L Xiao and S. Boyd, Fast linear iterations for distributed averaging,
Systems \& Control Letters, 52:65--78, 2004.

Optimizes lambda2 using SDP... recent results (infocom 05) allow this to be
done in a distributed way using Kempe's algorithm for calculation of the
Fiedler vector.

This paper uses the average-consensus framework in
\cite{Olfati_Murray:ACC03a} combined by an LMI framework that solves the
problem of optimization of weights of a network with a fixed set of links to
maximize $\lambda_2$. This is a central algorithm that is not useful for
networks but is good for designing Markov chain with slighter higher mixing
rates. The gain in increase of $\lambda_2$ is moderate (2 or so).

== Ren and Beard et al ==

* Wei Ren, Randal W. Beard, "Consensus Seeking in Multi-agent Systems Using
Dynamically Changing Interaction Topologies," IEEE Transactions on
Automatic Control, (to appear)

* Wei Ren, Randal W. Beard, Timothy W. McLain, "Coordination Variables and
Consensus Building in Multiple Vehicle Systems,'' Block Island Workshop on
Cooperative Control, Editors Vijay Kumar, Naomi Leonard, A. Stephen Morse,
Lecture Notes in Control and Information Systems, vol. 309,
Springer-Verlag, p. 171--188, 2004.

== Leonard ==

Cooperative control based on distributed gradient computations.

== Spanos ==

Consensus tracking with network reconfiguration, split/rejoin and robustness
to arbitrary time-delay w/ small gain thm. (note: all bidirectional)

Spanos, Olfati-Saber, Murray IPSN '05 (read): This paper provides a
promising direction for application of consensus algorithms in distributed
Kalman filtering and sensor fusion. This is what I meant by collaborative
information processing.

== Tsitsiklis et al. ==

Application of parallel/distributed computing techniques to analyze
convergence in general asynchronous setting (no specification of computing a
particular quantity, e.g. average).

== Actions ==
1. Assemble bibliography
* Send papers to Richard by Mon, 5 pm
* Post to wiki (Demetri)

2. Pick subset to cover ] Meet in ~2 weeks
3. Common notation/language ] 18 Apr
4. Common problems ]

5. List tools ] Meet in ~2 weeks
6. Diversions/open problems ] 6 May
7. Outline ]

8. Write ] Finish by 6/15/05

Compelling benchmark problem
* perhaps something that might be mobile sensor network

File:MVWTII Pos GOTChA 081104.ppt

2004-08-12T22:35:15Z

Demetri: Positioning GOTCHA Aug 11th

Positioning GOTCHA Aug 11th

MVWT Positioning Index

2004-08-05T22:54:55Z

Demetri: =Documents=

= Positioning Team =

== Members ==
* [[User:Demetri|Demetri Spanos]]
* [[User:xiong|Jing Xiong]]
* [[User:Nicolas|Nicolas Foirien]]
* [[User:Gupta|Vijay Gupta]]
* [[User:raktim|Raktim Bhattacharya]]

== Documents ==

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWTII_Pos_GOTChA_062404.jpg] Positioning Team GOTChA chart 6/24/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram.jpg] Positioning Team Block Diagram 6/23/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram7_1.ppt] Positioning Team Block Diagram 7/1/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:Rfid-feasibility.ppt] RFID Feasibility 7/1/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWTII_Pos_GOTChA_070104.ppt] Positioning Team GOTChA 7/1/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:2004_07_07_15_59_12_mvwt6.data] Vision Test Data 1 - Circle Formation 7/8/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:2004_07_07_16_15_47_mvwt6.data] Vision Test Data 2 - Circle Formation 7/8/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram7_8.ppt] Positioning Team Block Diagram 7/8/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram7_22.ppt] Positioning Team Block Diagram 7/22/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:ArchitectureReview7_28.ppt] Positioning Team Architecture Review 7/28/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWT_Status_2004-08-05.ppt] Positioning Team Block Diagram 8/05/04

== RFID Related Information ==
* [http://www.cds.caltech.edu/~murray/wiki/index.php/User:Raktim General Information]

* [http://www.cds.caltech.edu/%7Emurray/wiki/images/0/06/TI-HF-I-Midrange_Eval_Kit.tar.gz Manual and API for Texas Instrument HF-I-Midrange Evaluation Kit]

MVWT Positioning Index

2004-08-05T22:54:34Z

Demetri: =Documents=

= Positioning Team =

== Members ==
* [[User:Demetri|Demetri Spanos]]
* [[User:xiong|Jing Xiong]]
* [[User:Nicolas|Nicolas Foirien]]
* [[User:Gupta|Vijay Gupta]]
* [[User:raktim|Raktim Bhattacharya]]

== Documents ==

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWTII_Pos_GOTChA_062404.jpg] Positioning Team GOTChA chart 6/24/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram.jpg] Positioning Team Block Diagram 6/23/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram7_1.ppt] Positioning Team Block Diagram 7/1/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:Rfid-feasibility.ppt] RFID Feasibility 7/1/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWTII_Pos_GOTChA_070104.ppt] Positioning Team GOTChA 7/1/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:2004_07_07_15_59_12_mvwt6.data] Vision Test Data 1 - Circle Formation 7/8/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:2004_07_07_16_15_47_mvwt6.data] Vision Test Data 2 - Circle Formation 7/8/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram7_8.ppt] Positioning Team Block Diagram 7/8/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram7_22.ppt] Positioning Team Block Diagram 7/22/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:ArchitectureReview7_28.ppt] Positioning Team Architecture Review 7/28/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWT_Status_2004-08-05.ppt]
Positioning Team Block Diagram 8/05/04

== RFID Related Information ==
* [http://www.cds.caltech.edu/~murray/wiki/index.php/User:Raktim General Information]

* [http://www.cds.caltech.edu/%7Emurray/wiki/images/0/06/TI-HF-I-Midrange_Eval_Kit.tar.gz Manual and API for Texas Instrument HF-I-Midrange Evaluation Kit]

MVWT Positioning Index

2004-08-05T22:54:16Z

Demetri: =Documents=

= Positioning Team =

== Members ==
* [[User:Demetri|Demetri Spanos]]
* [[User:xiong|Jing Xiong]]
* [[User:Nicolas|Nicolas Foirien]]
* [[User:Gupta|Vijay Gupta]]
* [[User:raktim|Raktim Bhattacharya]]

== Documents ==

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWTII_Pos_GOTChA_062404.jpg] Positioning Team GOTChA chart 6/24/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram.jpg] Positioning Team Block Diagram 6/23/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram7_1.ppt] Positioning Team Block Diagram 7/1/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:Rfid-feasibility.ppt] RFID Feasibility 7/1/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWTII_Pos_GOTChA_070104.ppt] Positioning Team GOTChA 7/1/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:2004_07_07_15_59_12_mvwt6.data] Vision Test Data 1 - Circle Formation 7/8/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:2004_07_07_16_15_47_mvwt6.data] Vision Test Data 2 - Circle Formation 7/8/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram7_8.ppt] Positioning Team Block Diagram 7/8/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram7_22.ppt] Positioning Team Block Diagram 7/22/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:ArchitectureReview7_28.ppt] Positioning Team Architecture Review 7/28/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWT_Status_2004-08-05.ppt]
Positioning Team Block Diagram 8/05/04

== RFID Related Information ==
* [http://www.cds.caltech.edu/~murray/wiki/index.php/User:Raktim General Information]

* [http://www.cds.caltech.edu/%7Emurray/wiki/images/0/06/TI-HF-I-Midrange_Eval_Kit.tar.gz Manual and API for Texas Instrument HF-I-Midrange Evaluation Kit]

MVWT Positioning Index

2004-08-05T22:53:47Z

Demetri: =Documents=

= Positioning Team =

== Members ==
* [[User:Demetri|Demetri Spanos]]
* [[User:xiong|Jing Xiong]]
* [[User:Nicolas|Nicolas Foirien]]
* [[User:Gupta|Vijay Gupta]]
* [[User:raktim|Raktim Bhattacharya]]

== Documents ==

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWTII_Pos_GOTChA_062404.jpg] Positioning Team GOTChA chart 6/24/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram.jpg] Positioning Team Block Diagram 6/23/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram7_1.ppt] Positioning Team Block Diagram 7/1/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:Rfid-feasibility.ppt] RFID Feasibility 7/1/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWTII_Pos_GOTChA_070104.ppt] Positioning Team GOTChA 7/1/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:2004_07_07_15_59_12_mvwt6.data] Vision Test Data 1 - Circle Formation 7/8/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:2004_07_07_16_15_47_mvwt6.data] Vision Test Data 2 - Circle Formation 7/8/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram7_8.ppt] Positioning Team Block Diagram 7/8/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram7_22.ppt] Positioning Team Block Diagram 7/22/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:ArchitectureReview7_28.ppt] Positioning Team Architecture Review 7/28/04
*
[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWT_Status_2004-08-05.ppt]
Positioning Team Block Diagram 8/05/04

== RFID Related Information ==
* [http://www.cds.caltech.edu/~murray/wiki/index.php/User:Raktim General Information]

* [http://www.cds.caltech.edu/%7Emurray/wiki/images/0/06/TI-HF-I-Midrange_Eval_Kit.tar.gz Manual and API for Texas Instrument HF-I-Midrange Evaluation Kit]

File:MVWT Status 2004-08-05.ppt

2004-08-05T22:52:54Z

Demetri: Status chart Aug 5th

Status chart Aug 5th

MVWT Positioning Index

2004-07-08T22:57:00Z

Demetri: =Documents=

= Positioning Team =

== Members ==
* [[User:Demetri|Demetri Spanos]]
* [[User:xiong|Jing Xiong]]
* [[User:Nicolas|Nicolas Foirien]]
* [[User:Gupta|Vijay Gupta]]
* [[User:raktim|Raktim Bhattacharya]]

== Documents ==

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWTII_Pos_GOTChA_062404.jpg] Positioning Team GOTChA chart 6/24/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram.jpg] Positioning Team Block Diagram 6/23/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram7_1.ppt] Positioning Team Block Diagram 7/1/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:Rfid-feasibility.ppt] RFID Feasibility 7/1/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWTII_Pos_GOTChA_070104.ppt] Positioning Team GOTChA 7/1/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:2004_07_07_15_59_12_mvwt6.data] Vision Test Data 1 - Circle Formation 7/8/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:2004_07_07_16_15_47_mvwt6.data] Vision Test Data 2 - Circle Formation 7/8/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram7_8.ppt] Positioning Team Block Diagram July 8th

== RFID Related Information ==
* [http://www.cds.caltech.edu/~murray/wiki/index.php/User:Raktim General Information]

* [http://www.cds.caltech.edu/%7Emurray/wiki/images/0/06/TI-HF-I-Midrange_Eval_Kit.tar.gz Manual and API for Texas Instrument HF-I-Midrange Evaluation Kit]

File:SystemBlockDiagram7 8.ppt

2004-07-08T22:55:59Z

Demetri: Posn Team Block Diagram Jul 8th

Posn Team Block Diagram Jul 8th

MVWT Positioning Index

2004-07-08T20:37:58Z

Demetri: added a link to vision test data 2

= Positioning Team =

== Members ==
* [[User:Demetri|Demetri Spanos]]
* [[User:xiong|Jing Xiong]]
* [[User:Nicolas|Nicolas Foirien]]
* [[User:Gupta|Vijay Gupta]]
* [[User:raktim|Raktim Bhattacharya]]

== Documents ==

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWTII_Pos_GOTChA_062404.jpg] Positioning Team GOTChA chart 6/24/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram.jpg] Positioning Team Block Diagram 6/23/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram7_1.ppt] Positioning Team Block Diagram 7/1/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:Rfid-feasibility.ppt] RFID Feasibility 7/1/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWTII_Pos_GOTChA_070104.ppt] Positioning Team GOTChA 7/1/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:2004_07_07_15_59_12_mvwt6.data] Vision Test Data 1 - Circle Formation 7/8/04

*[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:2004_07_07_16_15_47_mvwt6.data] Vision Test Data 2 - Circle Formation 7/8/04

== RFID Related Information ==
* [http://www.cds.caltech.edu/~murray/wiki/index.php/User:Raktim General Information]

* [http://www.cds.caltech.edu/%7Emurray/wiki/images/0/06/TI-HF-I-Midrange_Eval_Kit.tar.gz Manual and API for Texas Instrument HF-I-Midrange Evaluation Kit]

File:2004 07 07 16 15 47 mvwt6.data

2004-07-08T20:36:46Z

Demetri: vision test data 2 (circle formation)

vision test data 2 (circle formation)

MVWT Positioning Index

2004-07-08T20:36:12Z

Demetri:

MVWT Positioning Index

2004-07-08T20:35:35Z

Demetri: added a link to vision test data

File:2004 07 07 15 59 12 mvwt6.data

2004-07-08T20:32:58Z

Demetri: vision test data 1 (circle formation)

vision test data 1 (circle formation)

MVWT Positioning Index

2004-07-01T22:11:52Z

Demetri: =Documents=

File:MVWTII Pos GOTChA 070104.ppt

2004-07-01T22:11:03Z

Demetri: Positioning GOTCHA Jul 1st 2004

Positioning GOTCHA Jul 1st 2004

MVWT Meeting 2004-07-01

2004-07-01T21:58:29Z

Demetri: added RFID feasibility presentation

= Weekly Project Meeting, 1 Jul 04 =

== Goals and Agenda ==

Goals
* Review timeline and upcoming activities
* Review team activities, using status charts
* Preliminary discussion of vehicle software/control architecture

Agenda:
# Review goals and agenda; select notetaker
# Upcoming events
# Team updates: [[MVWT_Vehicle_Index|vehicle]], [[MVWT_Positioning_Index|positioning]], [[MVWT_C2_Index|C2]]
#* 5 minute presentation, 5 minute discussion
#* Use status charts for each team
# Review of bugzilla blocker and critical items
# Vehicle architecture discussion

== Additional Information ==

Documents
* [[Media:MVWT_status_2004-07-01.ppt|Meeting charts]]

* [[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram7_1.ppt]] Positioning Team Block Diagram 7/1/04

* [[http://www.cds.caltech.edu/~murray/wiki/index.php/Image:Rfid-feasibility.ppt]] Positioning Team RFID Feasibility 7/1/04

Notes from Meeting

MVWT Positioning Index

2004-07-01T21:57:31Z

Demetri: added RFID feasibility presentation

MVWT Positioning Index

2004-07-01T21:56:40Z

Demetri: =Documents=

File:Rfid-feasibility.ppt

2004-07-01T21:55:42Z

Demetri: RFID Feasibility

RFID Feasibility

MVWT Meeting 2004-07-01

2004-07-01T21:52:53Z

Demetri: =Additional Information=

MVWT Meeting 2004-07-01

2004-07-01T21:52:32Z

Demetri: =Additional Information=

MVWT Positioning Index

2004-07-01T21:51:42Z

Demetri: =Documents=

File:SystemBlockDiagram7 1.ppt

2004-07-01T21:50:54Z

Demetri: Positioning Team Block Diagram July 1st, 2004

Positioning Team Block Diagram July 1st, 2004

MVWT Positioning Index

2004-06-23T22:10:24Z

Demetri: =Documents=

= Positioning Team =

== Members ==
* [[User:Demetri|Demetri Spanos]]
* [[User:xiong|Jing Xiong]]
* [[User:Nicolas|Nicolas Foirien]]
* [[User:Gupta|Vijay Gupta]]

== Documents ==

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:MVWTII_Pos_GOTChA_062404.jpg] Positioning Team GOTChA chart 6/24/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram.jpg] Positioning Team Block Diagram 6/23/04

File:MVWTII Pos GOTChA 062404.jpg

2004-06-23T22:08:50Z

Demetri: updated GOTChA 6/24/04

updated GOTChA 6/24/04

MVWT Positioning Index

2004-06-23T21:47:30Z

Demetri: =Documents=

= Positioning Team =

== Members ==
* [[User:Demetri|Demetri Spanos]]
* [[User:xiong|Jing Xiong]]
* [[User:Nicolas|Nicolas Foirien]]
* [[User:Gupta|Vijay Gupta]]

== Documents ==

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram.jpg] Positioning Team Block Diagram 6/23/04

MVWT Positioning Index

2004-06-23T21:46:57Z

Demetri: =Documents=

= Positioning Team =

== Members ==
* [[User:Demetri|Demetri Spanos]]
* [[User:xiong|Jing Xiong]]
* [[User:Nicolas|Nicolas Foirien]]
* [[User:Gupta|Vijay Gupta]]

== Documents ==

* [http://www.cds.caltech.edu/%7Emurray/wiki/images/2/26/SystemBlockDiagram.jpg] Positioning Block Diagram 6/23/04

* [http://www.cds.caltech.edu/~murray/wiki/index.php/Image:SystemBlockDiagram.jpg]
Test link

MVWT Positioning Index

2004-06-23T21:44:56Z

Demetri: =Documents=

File:SystemBlockDiagram.jpg

2004-06-23T21:44:07Z

Demetri: Posn team block diagram

Posn team block diagram

MVWT Positioning Index

2004-06-23T21:41:02Z

Demetri: =Documents=

MVWT Positioning Index

2004-06-23T21:40:45Z

Demetri: =Documents=

MVWT Positioning Index

2004-06-23T21:40:07Z

Demetri:

MVWT Positioning Index

2004-06-23T21:37:42Z

Demetri:

= Positioning Team =

== Members ==
* [[User:Demetri|Demetri Spanos]]
* [[User:xiong|Jing Xiong]]
* [[User:Nicolas|Nicolas Foirien]]
* [[User:Gupta|Vijay Gupta]]

== Documents ==

MVWT Meeting 2004-06-14

2004-06-14T22:30:27Z

Demetri:

= Project Kickoff Meeting, 14 Jun 04 =

Meeting slides: [[Media:kickoff-14jun04.ppt]]

== Goals and Agenda ==

Goals
* Get everyone up to speed on overall project goals and timeline
* Agree on project objectives and decide on teams

Agenda
# Review goals and agenda; select notetaker
# Overview of the plan for the summer
# MVWT project overview: GOTCha, status, timeline charts
# MVWT project infrastructure: bugzilla, wiki
# Schedule for this week + administrative details

== Notes ==
* Familiarize with GOTChA, Status, Timeline charts
* Think about common architecture both for command/control and sensor info

== Action ==
* Initial team meeting before Thursday
* First-iteration GOTChA chart for Thursday (each team)
* Get CDS account for all team members (talk to team coordinator)
* Get Wiki and Bugzilla accounts
* Get subversion running (Mike and Richard), everyone else familiarize when available

User:Demetri

2004-06-14T22:25:21Z

Demetri:

= Demetri Spanos =

Hi. This is very exciting. Really. :)

MVWT Positioning Index

2004-06-14T22:24:34Z

Demetri:

= Positioning Team =

== Members ==
* [[User:Demetri|Demetri Spanos]]

MVWT Positioning Index

2004-06-14T22:23:22Z

Demetri:

= MVWT Positioning Team =

== People ==