Alice: Vehicle Control: Difference between revisions

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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 [[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]]).
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. -->
* <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 ==
<!-- 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. -->
 
* <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>

Latest revision as of 17:54, 15 April 2006

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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 Follow, a simple control system used in CDS 110b. Key aspects of follow include the user interface (implemented with Sparrow), the interfaces to the state estimator, path planner and actuation subsystem (implemented with Skynet and DGCutils) and the trajectory tracking control itself (implemented with Falcon).

Lecture Materials

Reading

  • Follow Documentation, Jeremy Gillula. 2006. This page describes the interface to the Follow program.

Additional Resources

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