EECI08: Case Study - Autonomous Driving: Difference between revisions

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{{eeci-sp08 header|prev=[[NCS: Introduction to Networked Control Systems|Introduction]]|next=[[NCS: Embedded Systems Programming|Embedded Systems]]}}
{{eeci-sp08 header|prev=[[EECI: Introduction to Networked Control Systems|Introduction]]|next=[[EECI: Embedded Systems Programming|Embedded Systems]]}}


This lecture presents an overview of [[Alice]], an autonomous vehicle built by Caltech undergraduates to participate in the 2005 DARPA Grand Challenge.  Starting with the high level architecture, we describe some of the design choices that were made in the networked control systems (NCS) architecture and was as summarize the basic operation of the major software modules that are used to implement Alice's autonomous control system.  More detailed descriptions of Alice's individual components will be given in future lectures.
This lecture presents an overview of [[Alice]], an autonomous vehicle built by Caltech undergraduates to participate in the 2005 DARPA Grand Challenge.  Starting with the high level architecture, we describe some of the design choices that were made in the networked control systems (NCS) architecture and was as summarize the basic operation of the major software modules that are used to implement Alice's autonomous control system.  More detailed descriptions of Alice's individual components will be given in future lectures.


== Lecture Materials ==
== Lecture Materials ==
* [[Media:L1-2_alice.pdf|Lecture: Alice: A Networked Control System for Autonomous Driving]]
* Lecture slides: {{eeci-sp08 pdf|L2_alice.pdf|Case Study - Alice}}
* Alice movies: [http://gc.caltech.edu/media/movies/2005-09-28_NQE NQE clips], [http://gc.caltech.edu/media/movies/2005-10-08-RaceResults/GCE-alice-clips.mov GCE clips]
* Alice movies: [http://gc.caltech.edu/media/movies/2005-09-28_NQE NQE clips], [http://gc.caltech.edu/media/movies/2005-10-08-RaceResults/GCE-alice-clips.mov GCE clips]


== Reading ==
== Reading ==
* <p>[http://gc.caltech.edu/wiki/index.php/JFR05_Paper Alice: An Information-Rich Autonomous Vehicle for High-Speed Desert Navigation], Cremean et al.  ''Journal of Field Robotics'', 2005 (submitted).  This article provides an overview of Alice's architecture and operation.  The link takes you to a page on the Team Caltech wiki, with links to additional documentation.  Anyone considering working on a project using Alice should read this article.</p>
* <p>[http://gc.caltech.edu/media/papers/teamcaltech-jfr06.pdf Alice: An Information-Rich Autonomous Vehicle for High-Speed Desert Navigation], Cremean et al.  ''Journal of Field Robotics'', 2006.  This article provides an overview of Alice's architecture and operation.</p>


* <p>[http://www.cds.caltech.edu/~murray/papers/2002t_dm03b-acc.html The RoboFlag Competition], R. D'Andrea and R. M. Murray.  American Control Conference, 2003.  This article provides a high level overview of the RoboFlag competition, including a summary of the control architecture.  More information on RoboFlag is available via the [http://roboflag.mae.cornell.edu RoboFlag homepage].  Anyone considering working on a project using RoboFlag should read this article.</p>
* <p>[http://gc.caltech.edu/media/papers/dgc07-final.pdf Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge], DARPA final report, 2007.  This is the final report that was submitted to DARPA, documenting the operation of Alice in the 2007 Urban Challenge.</p>


== Additional Resources ==
== Additional Resources ==
* [http://team.caltech.edu Team Caltech homepage] - contains movies and other information about the project
* [http://team.caltech.edu/public Team Caltech homepage] - contains movies and other information about the project
* [http://gc.caltech.edu/wiki Team wiki] - detailed information about Alice, including documentation on hardware and software
* [http://gc.caltech.edu/wiki Team wiki] - detailed information about Alice, including documentation on hardware and software (requires username and password)
* [http://roboflag.mae.cornell.edu Cornell RoboFlag homepage] - documentation and code for RoboFlag

Latest revision as of 20:13, 1 March 2009

Prev: Introduction Course home Next: Embedded Systems

This lecture presents an overview of Alice, an autonomous vehicle built by Caltech undergraduates to participate in the 2005 DARPA Grand Challenge. Starting with the high level architecture, we describe some of the design choices that were made in the networked control systems (NCS) architecture and was as summarize the basic operation of the major software modules that are used to implement Alice's autonomous control system. More detailed descriptions of Alice's individual components will be given in future lectures.

Lecture Materials

Reading

Additional Resources

  • Team Caltech homepage - contains movies and other information about the project
  • Team wiki - detailed information about Alice, including documentation on hardware and software (requires username and password)
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