CDS 110b, Winter 2008 - Course Project

This page contains information for students working on the optional course project for CDS 110, Winter 2008.

Announcements

• 23 Jan 08: project assignments posted

Project assignments

• Group 1 (Alice): Michael Elzinga, Kelly Littlepage, Erica Pantel
• Group 2 (Alice): Dionysios Barmpoutis, Annie Liu, Matt Wu
• Group 3 (Alice): Nicholas Fette, Glenn Wagner, Stephen Duewel
• Group 4 (Hovercraft): Vanessa Carson, Chris Schantz, Kenny Oslund, Nam Nguyen

Project schedule

• Weeks 1 & 2: normal CDS 110 schedule
• Week 3: LQR design + orientation
• Week 4: LQR implementation and testing
• Week 5: midterm writeup
• Week 6: Trajectory generation + LQR tracking
• Week 7-8: state estimation design + implementation
• Week 9: implementation (backup)
• Week 10: final writeup

Alice project information

Getting started

• Log in to the Team Caltech wiki, which contains documentation on Alice. Find the 'follow' page, which describes the program that you will use to control Alice
• Read the JFR06 article (below), which gives a high level overview of Alice

References

• Cremean et al, Alice: An Information-Rich Autonomous Vehicle for High-Speed Desert Navigation. Journal of Field Robotics (JFR), 2006 - provides an overview of the architecture for Alice