Spring Schedule
| Date | Milestone |
|---|---|
| Feb 9 | [Progress Review 0] Presenter: Kelvin Shen – Complete autonomy architecture setup in ROS and Gazebo simulator – Set up leader Zamboni and follower Zamboni in Gazebo – Equip follower with sensors – Control the follower Zamboni with keyboard teleoperation |
| Feb 16 | [Progress Review 1] Presenter: Yilin Cai – Leader Zamboni detection in simulation and pose estimation – Follower Zamboni pose estimation using sensor fusion in the software – Steering controller based on pure pursuit on Simulink |
| Mar 2 | [Progress Review 2] Presenter: Rathin Shah – Integration of the controller with the complete simulation – Validation of RGB-D camera on hardware – Leader’s velocity estimation – IMU sensor validation on hardware |
| Mar 23 | [Progress Review 3] Presenter: Jiayi Qiu – Waypoint generation for follower’s path generation in ROS – Follower’s path generation and motion planning |
| Apr 6 | [Progress Review 4] Presenter: Nick Carcione – Integration of all software subsystems for Leader – Follower Autonomous Convoy – Deployment of vehicle controller on controller hardware and integration with Jetson |
| Apr 20 | [Spring Validation Demonstration] – Demonstrate full system capability on Simulation – Demonstrate sensing, leader detection and follower pose estimation subsystems on the platform |
Fall Schedule
| Date | Milestone |
|---|---|
| Sep 15 | [Progress Review 7] Presenter: Nick Carcione • Revisit and rework performance requirements • Tap Zamboni accelerator pedal encoder and send commands through it • Initial design of drive-by-wire system complete • Familiarization with ATV test platform complete • Autonomy stack review completed and areas of improvement identified |
| Sep 29 | [Progress Review 8] Presenter: Yilin Cai • Drive-by-wire system updates • Perception unit testing on ATV • Longitudinal controller modification • Localization unit testing on ATV |
| Oct 13 | [Progress Review 9] Presenter: Kelvin Shen • Camera LiDAR mounting and calibration on ATV • Perception improvements using tracking • Pure pursuit testing on ATV |
| Oct 27 | [Progress Review 10] Presenter: Jiayi Qiu • Follower can successfully avoid obstacles in a desirable manner • TBD |
| Nov 10 | [Progress Review 11] Presenter: Rathin Shah • Integration of manual controls and safety overrides • TBD |
| Nov 21 | [Fall Validation Demonstration] • System has been fully integrated • Testing and validation on the full system has begun • TBD |