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
• Steelebot Status - current operational status of the Steelebots. If you fix (or break) something, make a note of it here

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)

Wednesday

9am	Demo Control Code in stage Update Player/Stage to the latest version Update Robot.cfg in stage Figure out how to interface the vision system and the control computer Start work on Player graph grammar code using Demo 1 as the example Make world

Thursday

After Ketan arrives	Document process for reprogramming Steelebot flash drives Determine how to compile Player on Steelebots Set up communication from the DGC cluster to the robots
4pm	Progress Meeting

Friday

10am	UW people meet with Joel Burdick
11:15am	UW people meet with Mani Chandy

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
• CDC EGG Paper

Wiki Pages Written/Modified During MVWTfest

• MVWT
• MVWT Vision System
• PlayerStage documents
  • PlayerStage 2.0.3
  • .world file
  • .cfg file
  • map.inc
• Steelebot_Status
• Steelebots quickstart