User:Murray

Richard M. Murray Professor of Control and Dynamical Systems Division of Engineering and Applied Science California Institute of Technology Papers Research Group Teaching Contact

Other Activities: Private homepage Public homepage CDS 110b IST / CMI

Projects

• Multi-Vehicle Wireless Testbed
• Caltech Project Management Toolset
• Packet-Based Estimation and Control

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Notes

• DARPA Grand Challenge Follow-On
• Employment Contacts (restricted)

Notes from MVWT review, 28 Jul 04

Steve: prioritize what needs to get done this summer; leave enough time for documentation; think hard about latency.

Lars: documentation is very important; pay a lot of attention to arrows on the interface charts; C2 API extensions to bats and Kellys - will probably need to consider commanding accelerations instead of velocities.

Claire: will be hard to get everything working at the end => start working on interfaces between the teams. Pair up people from different teams.

Jeff: positioning team presentation did a nice job giving motivation. Put the status chart at the end.

Bob: get in touch with Geir Dullerud at UIUC and look at their hovercraft. C2 group should also look at this - trade ideas with what they are doing. Position group - detecting orientation might be hard; differential GPS may not give you what you need. What's the fall back? Think about developing set of test trajectories for testing out controllers (flatness, etc).