RoboFlag/Coop Control 24 June 2004

1. Richard M. Murray Zhipu Jin Ling Shi Demetri Spanos Domitilla Del Vecchio Vijay Gupta Raktim Bhattacharya? Andrea Bertozzi Dan Marthaler Nicolas Foirien Jeremy Malaize Michael Yeh Hans Scholze (?) Jing Xiong Jon Gibbs Brian Beck (Julia Ma) Rajiv Ghanta Alex Sutherland (Andrew Kwok) Chung Hua Hsieh Boa Quoc Nguyen David Tung RoboFlag/Coop Control 24 June 2004

2. 4:00-4:05 Meeting Goals, Agenda and Notetaker • Goals: • Review overall project plans and timeline, including team GOTChA charts • Discuss first drafts of team block diagrams • Agenda: 4:00 Review goals and agenda; select notetaker 4:05 Project GOTChA and Timeline charts 4:15 Team updates: vehicle, positioning, C2 4:50 Review/update project goals and timeline 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. Goals Design, implement and document a common MVWT infrastructure that supports 2004 SURF projects Expand the MVWT facility to include rooftop operation Objectives Common software architecture that supports code reuse between hetero-geneous MVWT vehicles Command and control infrastructure for controlling vehicles, logging data, visualizing system state; compatible with RoboFlag software 12 vehicle capability in 12 Steele, with robust vision-based positioning 24 vehicle capability on Steele roof, with 10 cm accurate positioning Cool demo for AFOSR meeting Technical Challenges Dropped packets in vision system, with little documentation of current configuration Heterogeneous platforms with custo-mized, legacy software solutions No identified solution for rooftop positioning system No dedicated MVWT II team Approach Team-oriented organization to work on common infrastructure needs Use CS/EE/ME 75 project mgmt toolset Early identification of common architecture, so that tools will fit together Midterm design review and AFOSR demonstration to drive timeline 4:05-4:10 Updated: 21 Jun 04 MVWT II GOTChA Chart Richard Murray, Caltech

4. Vehicles Posit’ning 4:10-4:15 Updated: 21 Jun 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  Hovercraft v2a software, 7/9 • Hovercraft v2b software, 7/23  Draft system architecture, 6/24  System architecture review, 7/1  Review potential roof solutions, 6/24  Downselect roof selection, 7/9  Initial root implementation, 7/22  Vision system analysis, 6/24  Vision system improvements, 7/1 RoboFlag Competition Institute Holiday  RoboFlag competition #1, 6/16 Final RoboFlag competiion, 8/19   Local RoboFlag in svn, 6/24  RoboFlag on Roof, 7/30  RoboFlag on MVWT II, 7/9  Draft team charts, 6/24  AFOSR demo, 8/10  Final team charts, 7/1 Lab cleanup, 7/6   Design review, 7/15 Project meetings: Thu, 4-5 pm            Richard Murray, Caltech

5. 4:15-4:50 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 project goals and timeline Richard Murray, Caltech