{"id":231,"date":"2022-02-19T02:44:59","date_gmt":"2022-02-19T02:44:59","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/?page_id=231"},"modified":"2022-10-08T04:35:07","modified_gmt":"2022-10-08T04:35:07","slug":"schedules","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/project-management\/schedules\/","title":{"rendered":"Schedules"},"content":{"rendered":"\n

Spring Schedule<\/h2>\n\n\n\n
\"\"
Figure 1. Spring Schedule<\/figcaption><\/figure>\n\n\n\n
Date<\/th>Milestone<\/th><\/tr><\/thead>
Feb 9<\/td>[Progress Review 0]<\/strong> 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<\/td><\/tr>
Feb 16<\/td>[Progress Review 1]<\/strong> 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<\/td><\/tr>
Mar 2<\/td>[Progress Review 2]<\/strong> Presenter: Rathin Shah
– Integration of the controller with the complete simulation
– Validation of RGB-D camera on hardware
– Leader\u2019s velocity estimation
– IMU sensor validation on hardware<\/td><\/tr>
Mar 23<\/td>[Progress Review 3]<\/strong> Presenter: Jiayi Qiu
– Waypoint generation for follower\u2019s path generation in ROS
– Follower\u2019s path generation and motion planning<\/td><\/tr>
Apr 6<\/td>[Progress Review 4]<\/strong> Presenter: Nick Carcione
– Integration of all software subsystems for Leader \u2013 Follower Autonomous Convoy
– Deployment of vehicle controller on controller hardware and integration with Jetson <\/td><\/tr>
Apr 20<\/td>[Spring Validation Demonstration]<\/strong>
– Demonstrate full system capability on Simulation
– Demonstrate sensing, leader detection and follower pose estimation subsystems on the platform<\/td><\/tr><\/tbody><\/table>
Table 1. Spring Milestones<\/figcaption><\/figure>\n\n\n\n

Fall Schedule<\/h2>\n\n\n\n
\"\"
Figure 2. Fall Schedule<\/figcaption><\/figure>\n\n\n\n
Date<\/th>Milestone<\/th><\/tr><\/thead>
Sep 15<\/td>[Progress Review 7]<\/strong> Presenter: Nick Carcione
\u2022 Revisit and rework performance requirements
\u2022 Tap Zamboni accelerator pedal encoder and send commands through it
\u2022 Initial design of drive-by-wire system complete
\u2022 Familiarization with ATV test platform complete
\u2022 Autonomy stack review completed and areas of improvement identified<\/td><\/tr>
Sep 29<\/td>[Progress Review 8]<\/strong> Presenter: Yilin Cai
\u2022 Drive-by-wire system updates
\u2022 Perception unit testing on ATV
\u2022 Longitudinal controller modification
\u2022 Localization unit testing on ATV <\/td><\/tr>
Oct 13<\/td>[Progress Review 9]<\/strong> Presenter: Kelvin Shen
\u2022 Camera LiDAR mounting and calibration on ATV
\u2022 Perception improvements using tracking
\u2022 Pure pursuit testing on ATV<\/td><\/tr>
Oct 27<\/td>[Progress Review 10]<\/strong> Presenter: Jiayi Qiu
\u2022 Follower can successfully avoid obstacles in a desirable manner
\u2022 TBD<\/td><\/tr>
Nov 10<\/td>[Progress Review 11]<\/strong> Presenter: Rathin Shah
\u2022 Integration of manual controls and safety overrides
\u2022 TBD<\/td><\/tr>
Nov 21<\/td>[Fall Validation Demonstration]<\/strong>
\u2022 System has been fully integrated
\u2022 Testing and validation on the full system has begun
\u2022 TBD<\/td><\/tr><\/tbody><\/table>
Table 2. Fall Milestones<\/figcaption><\/figure>\n","protected":false},"excerpt":{"rendered":"

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
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