RoboFlag/Coop Control 22 July 2004

1. Richard M. Murray Zhipu Jin Ling Shi Demetri Spanos Vijay Gupta Raktim Bhattacharya Andrea Bertozzi Dan Marthaler Nicolas Foirien Jeremy Malaize Michael Yeh Jing Xiong Jon Gibbs Brian Beck Rajiv Ghanta Alex Sutherland (Andrew Kwok) Chung Hua Hsieh Bao Quoc Nguyen David Tung Nicolas Hudson Michael Wolf RoboFlag/Coop Control 22 July 2004

2. 4:00-4:05 Meeting Goals, Agenda and Notetaker • Goals • Review timeline and upcoming activities • Review team activities, using status charts • Agenda: • 4:00 Review goals and agenda; select notetaker • 4:05 Upcoming events • 4:10 Team updates: vehicle, positioning, C2 • 4:30 SVN overview (Mike Yeh) • 4:45 Project review discussion • 5:00 Adjourn • Notetaker: ______________________ • Record notes and action items from meeting in electronic format • Post on project wiki after meeting; send out e-mail with URL • Rotate responsibility between group members Richard Murray, Caltech

3. Vehicles Posit’ning 4:05-4:10 Updated: 21 Jul 04 RoboFlag MVWT II Project Timeline Wk 1 Wk 2 Wk 3 Wk 4 Wk 5 Wk 6 Wk 7 Wk 8 Wk 9 Wk 10 Wk 11 Wk 12 Team 6/14 6/21 6/28 7/5 7/12 7/19 7/26 8/2 8/9 8/16 8/23 8/30  Kelly software, 7/16 • Hovercraft software, 7/23  Draft system architecture, 7/1  System architecture review, 7/8  Review potential roof solutions, 6/24  Downselect roof solution, 7/9  Initial roof implementation, 7/22  Vision system analysis, 6/24  Vision system improvements, 7/9 RoboFlag Competition Institute Holiday  RoboFlag competition #1, 6/16 Final RoboFlag competition, 8/19   Local RoboFlag in svn, 6/24  RoboFlag on Roof, 7/30  RoboFlag on MVWT I, 7/9  Draft charts, 6/24  SVN tutorial (M. Yeh, 7/15)  AFOSR demo, 8/10  Final team charts, 7/1 Lab cleanup, 7/6   7/14  Design review, 7/28 Project meetings: Thu, 4-5 pm            Richard Murray, Caltech

4. 4:10-4:30 Owner HELP! Needs work Interface Working Updated: 13 Jun 04 Team Updates • Work divided into 3 teams • Vehicle: HW + inner loop SW • Positioning: indoor and outdoor positioning • Command & Control: offboard interfaces to testbed Lab/Roof Positioning System • Command and • Control System • Testbed operation • Data logging andvisualization • RoboFlag API Vehicle User Applications (SURF projects) Review activities and status charts Richard Murray, Caltech

5. 4:30-4:45 Meeting Goals, Agenda and Notetaker • Goals • Review timeline and upcoming activities • Review team activities, using status charts • Agenda: • 4:00 Review goals and agenda; select notetaker • 4:05 Upcoming events • 4:10 Team updates: vehicle, positioning, C2 • 4:30 SVN overview (Mike Yeh) • 4:45 Project review discussion • 5:00 Adjourn • Notetaker: ______________________ • Record notes and action items from meeting in electronic format • Post on project wiki after meeting; send out e-mail with URL • Rotate responsibility between group members Richard Murray, Caltech

6. Goal Obtain feedback from outside experts on MVWT architecture Agenda 1:30MVWT overview (Richard) 2:00 Vehicle team 2:45 Break (CDS tea) 3:15 Positioning team 4:00 C2 team 4:45 Review team feedback 5:00 Adjourn Review team Bob M’Closkey (UCLA), Jeff Shamma (UCLA), Claire Tomlin (Stanford) Caltech: Lars Cremean, Steve Waydo Team presentation format (30 min) Chart #1: team name + members Chart #2: GOTChA chart Chart #3: status chart (block diagram) Charts 4-N: technical description Description of major components Provide enough detail to evaluate technical approach and progress Chart N+1: plan for rest of summer Presentations should be 30 minutes max, with 15 minutes for questions 4:45-5:00 Project Review: Wed, 28 Jul Richard Murray, Caltech