MVWTfest January 2007: Difference between revisions

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* [[MVWT]] - main wiki page (not very complete yet).  We will fill this in during the week
* [[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
* [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.
* [[MVWT network]]-- info on the MVWT wireless network


== Schedule ==
== Schedule ==
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{{agenda item|3p|}}
{{agenda item|3p|}}
* More infra
* More infra
** CVS -> DGC subversion
* get Steelebots to move (RMM)
* get Steelebots to move (RMM)
** extract SW
** figure out comms
** convert to run on gclab
* player/stage/gazebo (Julia)
* player/stage/gazebo (Julia)
** player/gazebo demo
** getKetan software integrated (in player)
* vision system (Steve, Sawyer)
* vision system (Steve, Sawyer)
** verify HW
** verify firmware
** reconfig
{{agenda item|4p|Recap for the day; plans for Tue}}
{{agenda item|4p|Recap for the day; plans for Tue}}
{{agenda item:5p|Task 1}}
{{agenda item|5p|Task 1}}
* make 1 robot go in circle
* make 1 robot go in circle
* finish graph classes (position + internal state)
* make 4 Steelebots moving according to plan
* finish graph classes
* write a proximity function
* write a proximity function
* complete JM's task 1
* 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}}
{{agenda end}}


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* Rethink/redo MVWT network
* Rethink/redo MVWT network
* (UW people) Set up meetings with Mani Chandy, Jason Hickey, Joel Burdick
* (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]]

Latest revision as of 19:06, 1 February 2007

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

Goals:

  1. Implement a cooperative control algorithm using graph grammars and involving at least 4 vehicles
  2. Learn about graph grammars, cooperative control, MDS, etc
  3. Leave with the ability to implement algorithms

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
  • 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.
  • MVWT network-- info on the MVWT wireless network

Schedule

Monday

11a   Organizational meeting - set out goals and rough schedule
12:30p   Lunch break
1:30p   Lab demo and account setup
  • demos
  • initial infrastructure
  • EGG discussion
  • rough plan for week
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
4p   Recap for the day; plans for Tue
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

Tuesday

9am  
  • proximity functions
  • player code
  • finish graph classes (position + internal state)

Wednesday

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

Thursday

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
4pm  

Progress Meeting

Friday

10am  

UW people meet with Joel Burdick

11:15am  

UW people meet with Mani Chandy

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

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