Difference between revisions of "MVWTfest January 2007"

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* get Steelebots to move (RMM)
* get Steelebots to move (RMM)
* 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 HW

Revision as of 23:20, 15 January 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

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)
  • 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)

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