Alice: Road Following - Revision history

Lars at 00:54, 22 April 2006

2006-04-22T00:54:25Z

← Older revision		Revision as of 00:54, 22 April 2006
Line 8:		Line 8:
	== Lecture Materials ==		== Lecture Materials ==
	<!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful -->		<!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful -->
	~~Lecture presentation slides coming soon...~~
	<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf\|Lecture: Networked Control Systems: Course Overview]] -->		<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf\|Lecture: Networked Control Systems: Course Overview]] -->
			[[Media:L4-3_Alice_RoadEst.pdf\|Lecture: Alice Road Estimation]]

	== Reading ==		== Reading ==

Lars: /* Additional Resources */

2006-04-21T20:28:39Z

Additional Resources

← Older revision		Revision as of 20:28, 21 April 2006
Line 24:		Line 24:

	* An Octave (MATLAB clone) toolbox for implementing nonlinear receding horizon control and moving horizon estimation is available at http://jbrwww.che.wisc.edu/home/tenny/nmpc/. The release is somewhat old (2003); be sure to get the CVS version to avoid some known bugs.		* An Octave (MATLAB clone) toolbox for implementing nonlinear receding horizon control and moving horizon estimation is available at http://jbrwww.che.wisc.edu/home/tenny/nmpc/. The release is somewhat old (2003); be sure to get the CVS version to avoid some known bugs.

			* For numerical solving, SNOPT is commercial software, but CDS cluster has a license for it. NPSOL is another option. SNOPT 5.3 user manual available at http://citeseer.ist.psu.edu/gill99users.html.

Lars at 16:08, 21 April 2006

2006-04-21T16:08:27Z

← Older revision		Revision as of 16:08, 21 April 2006
Line 2:		Line 2:

	<!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up -->		<!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up -->
	This lecture will present a practical example application for the estimation tools presented in the Monday and Wednesday lectures. The example application is road estimation and tracking for off-highway navigation. I'll present implementation details, resources and results from live testing of an extended Kalman filter implementation, and provide resources and preliminary results for implementing moving horizon estimation to solve the same problem.		This lecture will present a practical example application for the estimation tools presented in the Monday and Wednesday lectures. The example application is road estimation and tracking for off-highway navigation.

			I'll present implementation details, resources and results from live testing of an extended Kalman filter implementation, and provide resources and preliminary results for implementing moving horizon estimation to solve the same problem. --[[User:Lars\|Lars]] 09:08, 21 April 2006 (PDT)

	== Lecture Materials ==		== Lecture Materials ==

Lars: /* Additional Resources */

2006-04-21T16:06:39Z

Additional Resources

← Older revision		Revision as of 16:06, 21 April 2006
Line 19:		Line 19:
	== Additional Resources ==		== Additional Resources ==
	<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. -->		<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. -->
	* The Open Source Computer Vision ~~Library~~ (OpenCV) has a well-documented C++ class that implements the Kalman filter, and a host of image processing tools. See http://www.intel.com/technology/computing/opencv/ and http://opencvlibrary.sourceforge.net/		* The Open Source Computer Vision (OpenCV) Library has a well-documented C++ class that implements the Kalman filter, and a host of image processing tools. See http://www.intel.com/technology/computing/opencv/ and http://opencvlibrary.sourceforge.net/

	* An Octave (MATLAB clone) toolbox for implementing nonlinear receding horizon control and moving horizon estimation is available at http://jbrwww.che.wisc.edu/home/tenny/nmpc/. The release is somewhat old (2003); be sure to get the CVS version to avoid some known bugs.		* An Octave (MATLAB clone) toolbox for implementing nonlinear receding horizon control and moving horizon estimation is available at http://jbrwww.che.wisc.edu/home/tenny/nmpc/. The release is somewhat old (2003); be sure to get the CVS version to avoid some known bugs.

Lars: /* Reading */

2006-04-21T16:06:15Z

Reading

← Older revision		Revision as of 16:06, 21 April 2006
Line 12:		Line 12:
	<!-- A reading list for the lecture. This will typically be 3-5 articles or book chapters that are particularly relevant to the material being presented. The reading list should be annotated to explain how the articles fit into the topic for the lecture. -->		<!-- A reading list for the lecture. This will typically be 3-5 articles or book chapters that are particularly relevant to the material being presented. The reading list should be annotated to explain how the articles fit into the topic for the lecture. -->
	* Cf. (extended) Kalman filter reading materials from [[NCS: Kalman Filtering#Reading\|Monday 4/17/06]] lecture.		* Cf. (extended) Kalman filter reading materials from [[NCS: Kalman Filtering#Reading\|Monday 4/17/06]] lecture.

	* Cf. Moving Horizon Estimation reading materials from [[NCS: Moving Horizon Estimation#Reading\|Wednesday 4/19/06]] lecture.		* Cf. Moving Horizon Estimation reading materials from [[NCS: Moving Horizon Estimation#Reading\|Wednesday 4/19/06]] lecture.

	* [http://www.cds.caltech.edu/~murray/papers/2005u_cm06-icra.html Model-Based Estimation of Off-Highway Road Geometry using Single-Axis LADAR and Inertial Sensing], Lars B. Cremean and Richard M. Murray, To appear, ''Proc. of 2006 International Conference on Robotics and Automation''		* [http://www.cds.caltech.edu/~murray/papers/2005u_cm06-icra.html Model-Based Estimation of Off-Highway Road Geometry using Single-Axis LADAR and Inertial Sensing], Lars B. Cremean and Richard M. Murray, To appear, ''Proc. of 2006 International Conference on Robotics and Automation''

Lars: /* Lecture Materials */

2006-04-21T16:05:32Z

Lecture Materials

← Older revision		Revision as of 16:05, 21 April 2006
Line 6:		Line 6:
	== Lecture Materials ==		== Lecture Materials ==
	<!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful -->		<!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful -->
	Lecture presentation slides ~~forthcoming~~.		Lecture presentation slides coming soon...
	<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf\|Lecture: Networked Control Systems: Course Overview]] -->		<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf\|Lecture: Networked Control Systems: Course Overview]] -->

Lars: /* Reading */

2006-04-21T16:05:11Z

Reading

← Older revision		Revision as of 16:05, 21 April 2006
Line 13:		Line 13:
	* Cf. (extended) Kalman filter reading materials from [[NCS: Kalman Filtering#Reading\|Monday 4/17/06]] lecture.		* Cf. (extended) Kalman filter reading materials from [[NCS: Kalman Filtering#Reading\|Monday 4/17/06]] lecture.
	* Cf. Moving Horizon Estimation reading materials from [[NCS: Moving Horizon Estimation#Reading\|Wednesday 4/19/06]] lecture.		* Cf. Moving Horizon Estimation reading materials from [[NCS: Moving Horizon Estimation#Reading\|Wednesday 4/19/06]] lecture.
			* [http://www.cds.caltech.edu/~murray/papers/2005u_cm06-icra.html Model-Based Estimation of Off-Highway Road Geometry using Single-Axis LADAR and Inertial Sensing], Lars B. Cremean and Richard M. Murray, To appear, ''Proc. of 2006 International Conference on Robotics and Automation''

	== Additional Resources ==		== Additional Resources ==

Lars at 15:58, 21 April 2006

2006-04-21T15:58:16Z

← Older revision		Revision as of 15:58, 21 April 2006
Line 2:		Line 2:

	<!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up -->		<!-- Enter a 1 paragraph description of the contents of the lecture. Make sure to include any key concepts, so that the wiki search feature will pick them up -->
	This is the ~~template for CDS 270~~ lectures. ~~If you edit this page, you will see comments describing what goes in each section~~. '~~''Do not edit this template.''' See [[CDS 270: Information~~ for ~~Lecturers]] for more information on how~~ to ~~create a wiki page corresponding to a lecture~~.		This lecture will present a practical example application for the estimation tools presented in the Monday and Wednesday lectures. The example application is road estimation and tracking for off-highway navigation. I'll present implementation details, resources and results from live testing of an extended Kalman filter implementation, and provide resources and preliminary results for implementing moving horizon estimation to solve the same problem.

	== Lecture Materials ==		== Lecture Materials ==
	<!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful -->		<!-- Include links to materials that you used in your lecture. At a minimum, this should include a link to your lecture presentation. You might also include links to MATLAB scripts or other source code that students would find useful -->
			Lecture presentation slides forthcoming.
	<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf\|Lecture: Networked Control Systems: Course Overview]] -->		<!-- Sample lecture link: * [[Media:L1-1_Intro.pdf\|Lecture: Networked Control Systems: Course Overview]] -->

	== Reading ==		== Reading ==
	<!-- A reading list for the lecture. This will typically be 3-5 articles or book chapters that are particularly relevant to the material being presented. The reading list should be annotated to explain how the articles fit into the topic for the lecture. -->		<!-- A reading list for the lecture. This will typically be 3-5 articles or book chapters that are particularly relevant to the material being presented. The reading list should be annotated to explain how the articles fit into the topic for the lecture. -->
			* Cf. (extended) Kalman filter reading materials from [[NCS: Kalman Filtering#Reading\|Monday 4/17/06]] lecture.
			* Cf. Moving Horizon Estimation reading materials from [[NCS: Moving Horizon Estimation#Reading\|Wednesday 4/19/06]] lecture.

	== Additional Resources ==		== Additional Resources ==
	<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. -->		<!-- Links to additional information. If there are good sources of additional information for students interested in exploring this topic further, these should go at the bottom of the page. -->
			* The Open Source Computer Vision Library (OpenCV) has a well-documented C++ class that implements the Kalman filter, and a host of image processing tools. See http://www.intel.com/technology/computing/opencv/ and http://opencvlibrary.sourceforge.net/
			* An Octave (MATLAB clone) toolbox for implementing nonlinear receding horizon control and moving horizon estimation is available at http://jbrwww.che.wisc.edu/home/tenny/nmpc/. The release is somewhat old (2003); be sure to get the CVS version to avoid some known bugs.

Lars at 15:41, 21 April 2006

2006-04-21T15:41:51Z

New page

{{cds270-2 header}} 


This is the template for CDS 270 lectures. If you edit this page, you will see comments describing what goes in each section. '''Do not edit this template.''' See [[CDS 270: Information for Lecturers]] for more information on how to create a wiki page corresponding to a lecture.

== Lecture Materials ==



== Reading ==


== Additional Resources ==