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Intro Slide – 10. Alternative 1: Shot up the ramp of the DARPA shop Door starts to open, dramatic music Door gets stuck once the driver is visible and dramatic music comes to a halt Driver, frustrated, gets out and continues to push door open
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Alternative 1: Shot up the ramp of the DARPA shop Door starts to open, dramatic music Door gets stuck once the driver is visible and dramatic music comes to a halt Driver, frustrated, gets out and continues to push door open Alice drives out herself as dramatic music comes back Begin voiceover Alternative 2: Shot of Alice in the desert, at twilight, crickets chirping (3s) Shot of one of the monitors, starting out blank, then booting (with beeping sounds to indicate booting) (3s) Shot of the driver’s seat, empty, as the ignition sounds (3s) Shot of the headlights coming on (2s) Shot of one of the monitors again, showing “Autonomous Mode – Initialized!” (3s) Shot of Alice speeding off into the distance, (5s) Scene 1 – 20s
Continuous shot of Alice driving in (easy) desert terrain, approaching and then driving by the camera (on the right) (6s) • “Introducing Alice, the newest addition to the Team Caltech family of vehicles and the future of autonomous driving.”
Continuous shot of Alice driving in off-road terrain, maybe around the camera from left to right (7s) • “Alice will prove a formidable entry into the 2005 DARPA Grand Challenge, featuring the latest technology in sensing, processing, and actuation”
Shot of Alice driving in tough terrain (7s) • “Her extensive off-road capabilities, coupled with advanced planning and obstacle avoidance software, make her a favorite for winning the Challenge.”
Video of Bob during the last GC, off the starting line (5s) • “While she shares some of her robotic heritage with Caltech's previous entry, Bob,”
Shot of Homer (2s) • “as well as Caltech's other vehicles, Homer”
Shot of Peggy (1s) • “and Peggy”
Pan shot of Alice from the ground to the roof (5s) • “Alice has been built from the ground up to take advantage of the lessons learned during the 2004 Grand Challenge”
Shot of Alice running over some big obstacle (8s) • “With these lessons in mind over 90% of her subsystems have been redesigned, resulting in a stronger and more capable autonomous vehicle.”
Interior shot, through the front window, with a little interior visible, of really rough driving over hard terrain (lots of bumps!) (8s) • “Alice has been expertly modified for off-road driving by Sportsmobile, a company with over four decades of experience in altering vehicles for off-road use”
Shot of the mods (6s total) • “With these modifications, including _INSERT_MODS_HERE”
Shot of Alice in the rain at SA (6s) • “Alice will be fully capable of completing the course in any weather without even breaking a robotic sweat.”
Shot of steering actuator turning (10s) • “Beyond her physical modifications, Alice is fully equipped with all the actuators necessary for drive-by-wire and autonomous control, including steering”
Shot of brakes engaging (2s) • “brakes”
External shot of Alice from the front, sound of engine revving (2s) • “and throttle”
Shot of the switch blinking (4s) • “These actuators will receive commands from a computer network known as Skynet”
Animation of computer failing, and sensors and actuators being reconnected (18s) • “Skynet is a system developed by Team Caltech that will allow a computer grid to control the vehicle subsystems in a decentralized manner. If a computer failure occurs, Skynet will smoothly and autonomously redistribute the processing tasks, allowing for a degree of robustness unseen during the previous Grand Challenge.”
Shot of skynetGUI (7s) • “Skynet also provides a powerful user interface which will enable even a novice to control Alice's advanced driving software.”
Pan close-up shot of the computers in their mounts from right to left (8s) • “Skynet will run on X type_of_computer, which will provide enough computing power to handle any situation that Alice may encounter.”
Overhead shot of sensing cone (4s) • “Alice will use a wide variety of sensors as she speeds toward the finish line.”
Highlight GPS/IMU, then shot goes to upper-right corner, on top of shot of GPS, then IMU on Alice (8s) • “Position will be determined through a combination of GPS and inertial measurement readings, allowing Alice to pinpoint her location to within centimeters.”
Big shot of sensing cone, highlight LADAR/cameras (7s) • “She will map oncoming terrain using a combination of range sensors, each of which has been selected for its strengths in obstacle detection”
Big shot of sensing cone, highlight cameras, then go to upper right, with shots of disparity image/camera view (6s) • “Pairs of cameras will allow her to build dense range maps at both short, medium and long distances.”
Shot of cameras themselves (or road-following running if we have it) (7s) • “The cameras will also feed into road-detection algorithms, allowing Alice to take advantage of any road-networks encountered during the race”
Big shot of sensing cone, highlight LADAR, then go to upper right, with shots of LADARs on Alice (9s) • “LADARs will provide accurate range measurements at short and long range, allowing Alice to detect and react to obstacles as far as 100 meters away”
Shot of gimbal moving (7s) • “All of the sensors will be actively stabilized and pointed using a gimbal system, which is currently undergoing design and testing.”
Shot of terrain classification (5s) • “The data from these sensors will be fused with other information, such as terrain classification,”
Shot of satellite imagery (1s) • “satellite imagery”
Shot of RDDF corridor in skynetgui (4s) • “and of course, the RDDF corridor, into a single map”
Switch to same corridor, but cost-map, with vehicle driving along (8s) • “This map will combine all of Alice's knowledge of the world into a unique estimate about where it is safest (and fastest) to drive.”
Switch on proposed paths (5s) • “A nonlinear trajectory generation algorithm will then analyze this map in real-time,”
Split screen with Gazebo (4s) • “generating potential paths for the vehicle several times a second.”
External shot of Alice driving over difficult terrain (7s) • “One of the key advantages Alice will have over previous Grand Challenges vehicles will be her robustness to system failure”
Shot of Alice on terrain, making a sudden turn to avoid an obstacle (doesn’t have to sense the obstacle autonomously, can be just following the RDDF) (12s) • “A fault detection and management module will continuously monitor all of Alice's subsystems, checking for unusual signals or behaviors and responding appropriately by taking intelligent, informed action.”
Shot of actuator moving on bench in the shop (5s) • “Alice and her systems have undergone extensive testing, both on the bench and in the field.”
External shot of Alice driving at Santa Anita (7s) • “While her planning and sensing software are still in development, her path-following software and drive-by-wire systems have been tested extensively,”
External shot of Alice driving on terrain (10s) • “demonstrating the robustness and performance necessary for autonomous desert driving. Alice has logged several miles of autonomous testing at speeds of up to 20 miles per hour,”
Shot of planned path and actual path (2s) • “with incredible path-following accuracy”
Quick shot of error versus time, or something like that (2s) • “down to less than a meter.”
Shot of people working on Alice mechanically (3s) • “Alice's development and testing continue day and night”
Shot of somebody soldering something (3s) • “thanks to the hard work put in by the dedicated group of undergraduates”
Shot of people coding (3s) • “that make up Team Caltech”
Shot of people working at a whiteboard (6s) • “Thanks to their continued effort, Alice is on schedule to be fully autonomous in time for a May site visit”
Final shot of Alice driving on terrain, off into the distance (7s) • “and will be ready to set a new record for autonomous offroad driving come October 8th.”
