MVWTfest 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: Implement a cooperative control algorithm using graph grammars and involving at least 4 vehicles Learn about graph grammars, cooperative control, MDS, etc 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) 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)

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

Proposed MVWT EGG demos