Alice: Vehicle Control - Revision history

Murray at 17:54, 15 April 2006

2006-04-15T17:54:11Z

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	{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page -->		{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page -->

	This lecture provides a detailed description of the vehicle control system for Alice, emphasizing the messaging interfaces and multi-threaded control architecture. We describe in detail the code for [~~http~~:~~//gc.caltech.edu/wiki/index.php/~~Follow Follow], a simple control system used in [[CDS 110b]]. Key aspects of follow include the user interface (implemented with [~~http~~:~~//gc.caltech.edu/wiki/index.php/~~Sparrow Sparrow]), the interfaces to the state estimator, path planner and actuation subsystem (implemented with [~~http~~:~~//gc.caltech.edu/wiki/index.php/~~Skynet Skynet] and [~~http~~:~~//gc.caltech.edu/wiki/index.php/~~DGCutils DGCutils]) and the trajectory tracking control itself (implemented with [~~http~~:~~//gc.caltech.edu/wiki/index.php/~~Falcon Falcon]).		This lecture provides a detailed description of the vehicle control system for Alice, emphasizing the messaging interfaces and multi-threaded control architecture. We describe in detail the code for [[GC:Follow\|Follow]], a simple control system used in [[CDS 110b]]. Key aspects of follow include the user interface (implemented with [[GC:Sparrow\|Sparrow]]), the interfaces to the state estimator, path planner and actuation subsystem (implemented with [[GC:Skynet\|Skynet]] and [[GC:DGCutils\|DGCutils]]) and the trajectory tracking control itself (implemented with [[GC:Falcon\|Falcon]]).

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

Murray: /* Additional Resources */

2006-04-05T05:06:52Z

Additional Resources

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

			* <p>Alice source code: [http://gc.caltech.edu/viewcvs/trunk/projects/cds110b/ follow], [http://gc.caltech.edu/viewcvs/trunk/util/moduleHelpers moduleHelpers] (DGCutil, StateClient, trajTalker)</p>

Murray: /* Reading */

2006-04-05T05:02:40Z

Reading

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	== Reading ==		== Reading ==
	* <p>[[Media:foo06-adrive.pdf\|Asynchronous Network Control of Multiple Low Bandwidth Devices using Linux]], T. Foote. E11 paper, 2006. This paper, by Team Caltech member Tully Foote, describes how adrive works in a fair bit of detail, including the multi-threaded nature of its design, and gives some performance measures.</p>		* <p>[[Media:foo06-adrive.pdf\|Asynchronous Network Control of Multiple Low Bandwidth Devices using Linux]], T. Foote. E11 paper, 2006. This paper, by Team Caltech member Tully Foote, describes how adrive works in a fair bit of detail, including the multi-threaded nature of its design, and gives some performance measures.</p>

			*<p>[http://gc.caltech.edu/wiki/index.php/Follow Follow Documentation], Jeremy Gillula. 2006. This page describes the interface to the Follow program.</p>

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

Murray: /* Reading */

2006-04-02T19:57:51Z

Reading

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	== Reading ==		== Reading ==
	* <p>[[Media:foo06-adrive.pdf\|Asynchronous Network Control of Multiple Low Bandwidth Devices using Linux], T. Foote. E11 paper, 2006. This paper, by Team Caltech member Tully Foote, describes how adrive works in a fair bit of detail, including the multi-threaded nature of its design, and gives some performance measures.<p>		* <p>[[Media:foo06-adrive.pdf\|Asynchronous Network Control of Multiple Low Bandwidth Devices using Linux]], T. Foote. E11 paper, 2006. This paper, by Team Caltech member Tully Foote, describes how adrive works in a fair bit of detail, including the multi-threaded nature of its design, and gives some performance measures.</p>

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

Murray: /* Reading */

2006-04-02T19:57:36Z

Reading

← Older revision		Revision as of 19:57, 2 April 2006
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	== Reading ==		== Reading ==
			* <p>[[Media:foo06-adrive.pdf\|Asynchronous Network Control of Multiple Low Bandwidth Devices using Linux], T. Foote. E11 paper, 2006. This paper, by Team Caltech member Tully Foote, describes how adrive works in a fair bit of detail, including the multi-threaded nature of its design, and gives some performance measures.<p>

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

Murray: /* Lecture Materials */

2006-04-02T19:44:57Z

Lecture Materials

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	== Lecture Materials ==		== Lecture Materials ==
	* [[Media:L2-2_follow.pdf\|Lecture: Vehicle Control for Alice]] ~~-->~~		* [[Media:L2-2_follow.pdf\|Lecture: Vehicle Control for Alice]]

	== Reading ==		== Reading ==

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

Murray: first cut at lecture page

2006-04-02T19:44:18Z

first cut at lecture page

← Older revision		Revision as of 19:44, 2 April 2006
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	{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page -->		{{cds270-2 header}} <!-- Generates the header, including table of contents and link back to main page -->

	~~<!-- 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 provides a detailed description of the vehicle control system for Alice, emphasizing the messaging interfaces and multi-threaded control architecture. We describe in detail the code for [http://gc.caltech.edu/wiki/index.php/Follow Follow], a simple control system used in [[CDS 110b]]. Key aspects of follow include the user interface (implemented with [http://gc.caltech.edu/wiki/index.php/Sparrow Sparrow]), the interfaces to the state estimator, path planner and actuation subsystem (implemented with [http://gc.caltech.edu/wiki/index.php/Skynet Skynet] and [http://gc.caltech.edu/wiki/index.php/DGCutils DGCutils]) and the trajectory tracking control itself (implemented with [http://gc.caltech.edu/wiki/index.php/Falcon Falcon]).
	~~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 ==		== 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 -->		* [[Media:L2-2_follow.pdf\|Lecture: Vehicle Control for Alice]] -->
	~~<!-- 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. -->

	== 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. -->~~

Murray at 19:35, 2 April 2006

2006-04-02T19:35:53Z

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 ==