Murray Wiki - User contributions [en]

MVWTfest January 2007

2007-01-20T01:28:53Z

Mcnew:

This page collections information for the January 2007 ''MVWTfest''.

Participants: Julia Braman, Sawyer Fuller, JM McNew, Richard Murray, Kevin Oishi, Ketan Savla (Thu-Fri), David Thorsley, Steve Waydo (Mon), Nok Wongpiromsarn

{|
|- valign=top
| width=50% |
'''Goals:'''
# Implement a cooperative control algorithm using graph grammars and involving at least 4 vehicles
# Learn about graph grammars, cooperative control, MDS, etc
# Leave with the ability to implement algorithms
| width=50% |
'''Activities:'''
* MVWT demos and training - get everyone up to speed on using the testbed
* Fix up infrastructure and documentation, aimed at improving usability for everyone
* Informal talks on research of general interest
|}

'''Useful links:'''
* [[MVWT]] - main wiki page (not very complete yet). We will fill this in during the week
* [http://www.cds.caltech.edu/~mvwt Old MVWT page] - we need to copy everything from here to the wiki
* [[Steelebot Status]] - current operational status of the Steelebots. If you fix (or break) something, make a note of it here
* [[Player/ Stage EGG Demo Status]] - current status of stage EGG demo simulations and future work.
* [[Player/Vision Interface Status]]-- current staus of the interface between player code and the vision system and a list of needs.

== Schedule ==

=== Monday ===
{{agenda begin}}
{{agenda item|11a|Organizational meeting - set out goals and rough schedule}}
{{agenda item|12:30p|Lunch break}}
{{agenda item|1:30p|Lab demo and account setup}}
* demos
* initial infrastructure
* EGG discussion
* rough plan for week
{{agenda item|3p|}}
* More infra
** CVS -> DGC subversion
* get Steelebots to move (RMM)
** extract SW
** figure out comms
** convert to run on gclab
* player/stage/gazebo (Julia)
** player/gazebo demo
** getKetan software integrated (in player)
* vision system (Steve, Sawyer)
** verify HW
** verify firmware
** reconfig
{{agenda item|4p|Recap for the day; plans for Tue}}
{{agenda item|5p|Task 1}}
* make 1 robot go in circle
* make 4 Steelebots moving according to plan
* finish graph classes
* write a proximity function
* complete JM's task 1
{{agenda end}}

=== Tuesday ===
{{agenda begin}}
{{agenda item|9am|}}
* proximity functions
* player code
* finish graph classes (position + internal state)
{{agenda end}}

===Wednesday===
{{agenda begin}}
{{agenda item|9am|}}
* Demo Control Code in stage
* Update Player/Stage to the latest version
* Update Robot.cfg in stage
* Figure out how to interface the vision system and the control computer
* Start work on Player graph grammar code using Demo 1 as the example
* Make world
{{agenda end}}

===Thursday===
{{agenda begin}}
{{agenda item|After Ketan arrives|}}
* Document process for reprogramming Steelebot flash drives
* Determine how to compile Player on Steelebots
* Set up communication from the DGC cluster to the robots
{{agenda item|4pm|}}
Progress Meeting
{{agenda end}}

===Friday===
{{agenda begin}}
{{agenda item|10am|}}
UW people meet with Joel Burdick
{{agenda item|11:15am|}}
UW people meet with Mani Chandy
{{agenda end}}

== Goals ==
* 4 physical robots executing cooperative task specified as EGG
* Plug adn play interface: EGG, CCL, MDS, ...
* Learn about MVWT and Alice
* Leave with simulation code (for EGG + MVWT)
* Dynamic, flowing (loops, circles)
* Leave EGG behind
* Tell other people how testbed works
* How to use SOS to proe EGG protocol
* Vision system working
* Subversion repository for code (MVWT, player/stage, EGG), tutorial
* (partially) switch to DGC cluster
* doc -> wiki
* Fault detection ideas + (maybe) prototype implementation
* Rethink/redo MVWT network
* (UW people) Set up meetings with Mani Chandy, Jason Hickey, Joel Burdick

== EGGs ==
*[http://students.washington.edu/mcnew/MVWT/MVWTFest_Demo_Tasks.htm Proposed MVWT EGG demos]
*[http://students.washington.edu/mcnew/MVWT/CDC_EGG_Final.pdf CDC EGG Paper]

[[Category:MVWT documentation]]
[[Category:MVWTfest]]

Steelebot Status

2007-01-20T01:21:00Z

Mcnew:

This page is intended to keep a record of the operational status of the Steelebots in the [[MVWT]].

==Mechanical Parts Working==
* 3,5,7, and 13
* Steelebot 1 had no number on it; we decided it was #1 because flash card #1 was in it

==Flash Cards Working==

* 3 (IP Address 192.168.1.153) - login: steelebot; password: steelebot (01/16/2007)
* 5 (IP Address 192.168.1.155) - login: steelebot; password: steelebot (01/16/2007)
** The wireless connection will not initialize unless the robot is placed fairly close to the wireless hub, within 5-6 feet or so.

==Flash Cards Not Working==
* 1 (IP Address 192.168.1.151) - works but has wrong software
* 2 (IP Address 192.168.1.152) - works but has wrong software
* Richard purchased new 1 Gig cards. Intends to install new linux distribution.

==Wireless Card Serial Numbers==
* 03UT15867647 (bad)
* 03UT15869186 (good)
* 03UT15869191 (good)
* 04UT12332189 (good)
* 04UT12413693 (good)
* 04UT12413712 (good)
* 04UT12413757 (bad)
* 04UT12413783 (bad)

==See Also==
* [[Steelebots quickstart]]

MVWT

2007-01-16T19:13:06Z

Mcnew:

{{righttoc}}

[[MVWTfest January 2007]]

The Caltech Multi-Vehicle Wireless Testbed (MVWT) is a testbed for networked control, computing and communications systems. It consists of up to 12 mobile vehicles with embedded computing and communications capability for use in testing new approaches for command and control across dynamic networks. The system allows testing of a variety of communications-related technologies, including distributed command and control algorithms, dynamically reconfigurable network topologies, source coding for real-time transmission of data in lossy environments, and multi-network communications. A unique feature of the testbed is the use of vehicles that have second order dynamics, requiring real-time feedback algorithms to stabilize the system while performing cooperative tasks.

The MVWT is part of the the Caltech Vehicles Laboratory and consists of individual vehicles with PC-based computation and controls, and multiple communications devices (802.11 wireless ethernet, and Bluetooth). Several different types of vehicles have been developed, including wheeled mobile robots, a thrust vectored vehicle on castors and a hovercraft. The laboratory contains access points for the 802.11, overhead visual sensing (to allow emulation of GPS signal processing), a centralized computer for emulating certain distributed computations, and network gateways to control and manipulate communications traffic.

== Hardware ==

== Software ==
*[http://students.washington.edu/mcnew/MVWT/InstallationProc.pdf Installation Procedure]--Domitilla del Vecchio's document detailing software installation.
* [[MVWT disk reimaging]]

== Papers ==
We have written several papers that describ the MVWT and provide additional information on how it is configured.

MVWT I (Kelly robots):
* A Platform for Cooperative and Coordinated Control of Multiple Vehicles: The Caltech Multi-Vehicle Wireless Testbed, Timothy Chung, Lars Cremean, William B. Dunbar, Zhipu Jin, Eric Klavins, David Moore, Abhishek Tiwari, Dave van Gogh, Stephen Waydo.Conference on Cooperative Control and Optimization, 2002.

* The Caltech Multi-Vehicle Wireless Testbed, Lars Cremean, William Dunbar, David van Gogh, Jason Hickey, Eric Klavins, Jason Meltzer, Richard M. Murray. Conference on Decision and Control (CDC), 2002.

MVWT II (Hovercraft):
* [http://www.cds.caltech.edu/~murray/papers/2004e_jin+04-acc.html.html MVWT-II: The Second Generation Caltech Multi-Vehicle Wireless Testbed], Zhipu Jin, Stephen Waydo, Elisabeth B. Wildanger, Michael Lammers, Hans Scholze, Peter Foley, David Held, Richard M. Murray. 2004 American Control Conference (ACC).

In addition, several papers have been written using the MVWT to collect data and test out new approaches to communications, computing and control:
* Position Tracking for a Nonlinear Underactuated Hovercraft: Controller Design and Experimental Results, Antonio Pedro Aguiar, Lars Cremean, Joao Pedro Hespanha. Conference on Decision and Control, 2003

== History ==

== Pictures ==
Here are some pictures of the testbed and the different vehicles. Click on the thumbnails to get a larger version.

{|
|-
| [[Image:mvwt_kelly.jpg|thumb|Vectored thrust vehicle (Kelly)]]
| [[Image:mvwt_hovercraft.jpg|thumb|Hovercraft vehicle]]
| [[Image:mvwt_steelebot.jpg|thumb|Wheeled vehicle (Steelebot)]]
|-
| [[Image:mvwt_schematic.jpg|thumb|Schematic view of the testbed]]
| [[Image:mvwt_testbed.jpg|thumb|Picture of the testbed with two vehicles]]
| [[Image:mvwt_formation.jpg|thumb|Formation control with three vehicles]]
|}

MVWTfest January 2007

2007-01-16T19:12:01Z

Mcnew:

This page collections information for the January 2007 ''MVWTfest''.

Participants: Julia Braman, Sawyer Fuller, JM McNew, Richard Murray, Kevin Oishi, Ketan Savla (Thu-Fri), David Thorsley, Steve Waydo (Mon), Nok Wongpiromsarn

{|
|- valign=top
| width=50% |
'''Goals:'''
# Implement a cooperative control algorithm using graph grammars and involving at least 4 vehicles
# Learn about graph grammars, cooperative control, MDS, etc
# Leave with the ability to implement algorithms
| width=50% |
'''Activities:'''
* MVWT demos and training - get everyone up to speed on using the testbed
* Fix up infrastructure and documentation, aimed at improving usability for everyone
* Informal talks on research of general interest
|}

'''Useful links:'''
* [[MVWT]] - main wiki page (not very complete yet). We will fill this in during the week
* [http://www.cds.caltech.edu/~mvwt Old MVWT page] - we need to copy everything from here to the wiki
* [[Steelebot Status]] - current operational status of the Steelebots. If you fix (or break) something, make a note of it here

== Schedule ==

=== Monday ===
{{agenda begin}}
{{agenda item|11a|Organizational meeting - set out goals and rough schedule}}
{{agenda item|12:30p|Lunch break}}
{{agenda item|1:30p|Lab demo and account setup}}
* demos
* initial infrastructure
* EGG discussion
* rough plan for week
{{agenda item|3p|}}
* More infra
** CVS -> DGC subversion
* get Steelebots to move (RMM)
** extract SW
** figure out comms
** convert to run on gclab
* player/stage/gazebo (Julia)
** player/gazebo demo
** getKetan software integrated (in player)
* vision system (Steve, Sawyer)
** verify HW
** verify firmware
** reconfig
{{agenda item|4p|Recap for the day; plans for Tue}}
{{agenda item|5p|Task 1}}
* make 1 robot go in circle
* make 4 Steelebots moving according to plan
* finish graph classes
* write a proximity function
* complete JM's task 1
{{agenda end}}

=== Tuesday ===
{{agenda begin}}
{{agenda item|9am|}}
* proximity functions
* player code
* finish graph classes (position + internal state)
{{agenda end}}

== Goals ==
* 4 physical robots executing cooperative task specified as EGG
* Plug adn play interface: EGG, CCL, MDS, ...
* Learn about MVWT and Alice
* Leave with simulation code (for EGG + MVWT)
* Dynamic, flowing (loops, circles)
* Leave EGG behind
* Tell other people how testbed works
* How to use SOS to proe EGG protocol
* Vision system working
* Subversion repository for code (MVWT, player/stage, EGG), tutorial
* (partially) switch to DGC cluster
* doc -> wiki
* Fault detection ideas + (maybe) prototype implementation
* Rethink/redo MVWT network
* (UW people) Set up meetings with Mani Chandy, Jason Hickey, Joel Burdick

== EGGs ==
*[http://students.washington.edu/mcnew/MVWT/MVWTFest_Demo_Tasks.htm Proposed MVWT EGG demos]
*[http://students.washington.edu/mcnew/MVWT/CDC_EGG_Final.pdf CDC EGG Paper]

MVWTfest January 2007

2007-01-16T19:10:32Z

Mcnew:

This page collections information for the January 2007 ''MVWTfest''.

Participants: Julia Braman, Sawyer Fuller, JM McNew, Richard Murray, Kevin Oishi, Ketan Savla (Thu-Fri), David Thorsley, Steve Waydo (Mon), Nok Wongpiromsarn

{|
|- valign=top
| width=50% |
'''Goals:'''
# Implement a cooperative control algorithm using graph grammars and involving at least 4 vehicles
# Learn about graph grammars, cooperative control, MDS, etc
# Leave with the ability to implement algorithms
| width=50% |
'''Activities:'''
* MVWT demos and training - get everyone up to speed on using the testbed
* Fix up infrastructure and documentation, aimed at improving usability for everyone
* Informal talks on research of general interest
|}

'''Useful links:'''
* [[MVWT]] - main wiki page (not very complete yet). We will fill this in during the week
* [http://www.cds.caltech.edu/~mvwt Old MVWT page] - we need to copy everything from here to the wiki
* [[Steelebot Status]] - current operational status of the Steelebots. If you fix (or break) something, make a note of it here

== Schedule ==

=== Monday ===
{{agenda begin}}
{{agenda item|11a|Organizational meeting - set out goals and rough schedule}}
{{agenda item|12:30p|Lunch break}}
{{agenda item|1:30p|Lab demo and account setup}}
* demos
* initial infrastructure
* EGG discussion
* rough plan for week
{{agenda item|3p|}}
* More infra
** CVS -> DGC subversion
* get Steelebots to move (RMM)
** extract SW
** figure out comms
** convert to run on gclab
* player/stage/gazebo (Julia)
** player/gazebo demo
** getKetan software integrated (in player)
* vision system (Steve, Sawyer)
** verify HW
** verify firmware
** reconfig
{{agenda item|4p|Recap for the day; plans for Tue}}
{{agenda item|5p|Task 1}}
* make 1 robot go in circle
* make 4 Steelebots moving according to plan
* finish graph classes
* write a proximity function
* complete JM's task 1
{{agenda end}}

=== Tuesday ===
{{agenda begin}}
{{agenda item|9am|}}
* proximity functions
* player code
* finish graph classes (position + internal state)
{{agenda end}}

== Goals ==
* 4 physical robots executing cooperative task specified as EGG
* Plug adn play interface: EGG, CCL, MDS, ...
* Learn about MVWT and Alice
* Leave with simulation code (for EGG + MVWT)
* Dynamic, flowing (loops, circles)
* Leave EGG behind
* Tell other people how testbed works
* How to use SOS to proe EGG protocol
* Vision system working
* Subversion repository for code (MVWT, player/stage, EGG), tutorial
* (partially) switch to DGC cluster
* doc -> wiki
* Fault detection ideas + (maybe) prototype implementation
* Rethink/redo MVWT network
* (UW people) Set up meetings with Mani Chandy, Jason Hickey, Joel Burdick

== EGGs ==
[http://students.washington.edu/mcnew/MVWT/MVWTFest_Demo_Tasks.htm Proposed MVWT EGG demos]
[http://students.washington.edu/mcnew/MVWT/CDC_EGG_FINAL.pdf CDC EGG Paper]

MVWT

2007-01-16T17:09:52Z

Mcnew:

{{righttoc}}

[[MVWTfest January 2007]]

The Caltech Multi-Vehicle Wireless Testbed (MVWT) is a testbed for networked control, computing and communications systems. It consists of up to 12 mobile vehicles with embedded computing and communications capability for use in testing new approaches for command and control across dynamic networks. The system allows testing of a variety of communications-related technologies, including distributed command and control algorithms, dynamically reconfigurable network topologies, source coding for real-time transmission of data in lossy environments, and multi-network communications. A unique feature of the testbed is the use of vehicles that have second order dynamics, requiring real-time feedback algorithms to stabilize the system while performing cooperative tasks.

The MVWT is part of the the Caltech Vehicles Laboratory and consists of individual vehicles with PC-based computation and controls, and multiple communications devices (802.11 wireless ethernet, and Bluetooth). Several different types of vehicles have been developed, including wheeled mobile robots, a thrust vectored vehicle on castors and a hovercraft. The laboratory contains access points for the 802.11, overhead visual sensing (to allow emulation of GPS signal processing), a centralized computer for emulating certain distributed computations, and network gateways to control and manipulate communications traffic.

== Hardware ==

== Software ==
[http://students.washington.edu/mcnew/MVWT/InstallationProc.pdf Installation Procedure]--Domitilla del Vecchio's document detailing software installation.

== Papers ==
We have written several papers that describ the MVWT and provide additional information on how it is configured.

MVWT I (Kelly robots):
* A Platform for Cooperative and Coordinated Control of Multiple Vehicles: The Caltech Multi-Vehicle Wireless Testbed, Timothy Chung, Lars Cremean, William B. Dunbar, Zhipu Jin, Eric Klavins, David Moore, Abhishek Tiwari, Dave van Gogh, Stephen Waydo.Conference on Cooperative Control and Optimization, 2002.

* The Caltech Multi-Vehicle Wireless Testbed, Lars Cremean, William Dunbar, David van Gogh, Jason Hickey, Eric Klavins, Jason Meltzer, Richard M. Murray. Conference on Decision and Control (CDC), 2002.

MVWT II (Hovercraft):
* [http://www.cds.caltech.edu/~murray/papers/2004e_jin+04-acc.html.html MVWT-II: The Second Generation Caltech Multi-Vehicle Wireless Testbed], Zhipu Jin, Stephen Waydo, Elisabeth B. Wildanger, Michael Lammers, Hans Scholze, Peter Foley, David Held, Richard M. Murray. 2004 American Control Conference (ACC).

In addition, several papers have been written using the MVWT to collect data and test out new approaches to communications, computing and control:
* Position Tracking for a Nonlinear Underactuated Hovercraft: Controller Design and Experimental Results, Antonio Pedro Aguiar, Lars Cremean, Joao Pedro Hespanha. Conference on Decision and Control, 2003

== History ==

== Pictures ==
Here are some pictures of the testbed and the different vehicles. Click on the thumbnails to get a larger version.

{|
|-
| [[Image:mvwt_kelly.jpg|thumb|Vectored thrust vehicle (Kelly)]]
| [[Image:mvwt_hovercraft.jpg|thumb|Hovercraft vehicle]]
| [[Image:mvwt_steelebot.jpg|thumb|Wheeled vehicle (Steelebot)]]
|-
| [[Image:mvwt_schematic.jpg|thumb|Schematic view of the testbed]]
| [[Image:mvwt_testbed.jpg|thumb|Picture of the testbed with two vehicles]]
| [[Image:mvwt_formation.jpg|thumb|Formation control with three vehicles]]
|}

MVWTfest January 2007

2007-01-16T17:04:46Z

Mcnew:

MVWTfest January 2007

2007-01-16T01:26:28Z

Mcnew: