{"id":567,"date":"2022-05-05T23:22:06","date_gmt":"2022-05-05T23:22:06","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/?page_id=567"},"modified":"2022-05-07T04:21:47","modified_gmt":"2022-05-07T04:21:47","slug":"spring-validation-demo","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/performance\/spring-validation-demo\/","title":{"rendered":"Spring Validation Demo"},"content":{"rendered":"\n<h3 class=\"wp-block-heading\">Demonstration 1 &#8212; Simulation<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>What you will see<\/strong><\/h4>\n\n\n\n<ul class=\"wp-block-list\"><li>Leader ice resurfacer detection as well as pose and velocity estimation<\/li><li>Follower ice resurfacer localization<\/li><li>Fully functional leader follower system<\/li><\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><strong><strong>Live Demo<\/strong><\/strong><\/h4>\n\n\n\n<div class=\"video-container\"><p align=\"center\"><iframe loading=\"lazy\" src=\"https:\/\/drive.google.com\/file\/d\/1KEDnm_x52nIFyzjqKiC8jTNxMSbLu-rA\/preview\" width=\"640\" height=\"480\"><\/iframe><\/p><\/div>\n\n\n\n<h4 class=\"wp-block-heading\">Success Criteria<\/h4>\n\n\n\n<ul class=\"wp-block-list\"><li>Follower will estimate the relative position of the leader within 0.1 m accuracy<\/li><li>Follower will localize itself with an accuracy of 0.1 m in both x and y directions and an accuracy of 1 deg in yaw angle<\/li><li>Follower will estimate the velocity of the leader to an accuracy of 0.2 m\/s<\/li><li>Follower will follow the leader and maintain a constant distance of 2m with an accuracy of \u00b10.5m<\/li><li>The system will maintain a lateral offset with the leader of 2m to an accuracy of \u00b10.15m<\/li><\/ul>\n\n\n\n<p>The following slideshow includes validations of each subsystem in simulation: Perception, Localization, Velocity Estimation, and Offset Maintenance in a fully functional leader-following system. <\/p>\n\n\n\n<div class=\"video-container\"><p align=\"center\"><iframe loading=\"lazy\" src=\"https:\/\/docs.google.com\/presentation\/d\/e\/2PACX-1vQgfXeOH3vFH7ePy8V-bZz69aIIFIczvN7LFLM8JIGXTxEihaT9TF1TErl_roJ4bdvLbtZingxGoZI5\/embed?start=false&amp;loop=true&amp;delayms=3000\" frameborder=\"0\" width=\"960\" height=\"569\" allowfullscreen=\"true\"><\/iframe><\/p><\/div>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<div class=\"wp-block-image is-style-default\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"900\" height=\"385\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-content\/uploads\/sites\/62\/2022\/05\/image-1-900x385.png\" alt=\"\" class=\"wp-image-581\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-content\/uploads\/sites\/62\/2022\/05\/image-1-900x385.png 900w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-content\/uploads\/sites\/62\/2022\/05\/image-1-300x128.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-content\/uploads\/sites\/62\/2022\/05\/image-1-768x329.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-content\/uploads\/sites\/62\/2022\/05\/image-1-1536x658.png 1536w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-content\/uploads\/sites\/62\/2022\/05\/image-1-2048x877.png 2048w\" sizes=\"auto, (max-width: 900px) 100vw, 900px\" \/><\/figure><\/div>\n\n\n\n<hr class=\"wp-block-separator is-style-dots\" \/>\n\n\n\n<h3 class=\"wp-block-heading\">Demonstration 2 &#8212; Hardware Platform (RC Car + Husky UGV)<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>What you will see<\/strong><\/h4>\n\n\n\n<ul class=\"wp-block-list\"><li>Leader (Husky UGV) detection as well as pose and velocity estimation<\/li><li>Follower (RC Car) localization<\/li><li>Fully functional leader follower system<\/li><\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">Live Demo<\/h4>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"video-container\"><p align=\"center\"><iframe loading=\"lazy\" src=\"https:\/\/drive.google.com\/file\/d\/1P9cpy44A3jfHvvSVczVKm6LMTR5vDvCF\/preview\" width=\"640\" height=\"480\"><\/iframe><\/p><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"video-container\"><p align=\"center\"><iframe loading=\"lazy\" src=\"https:\/\/drive.google.com\/file\/d\/1RZp9OjUA91jE0fmlgYZJck3s4alilo1a\/preview\" width=\"640\" height=\"480\"><\/iframe><\/p><\/div>\n<\/div>\n<\/div>\n\n\n\n<h4 class=\"wp-block-heading\">Success Criteria<\/h4>\n\n\n\n<ul class=\"wp-block-list\"><li>Follower will estimate the relative position of the leader within 0.1 m accuracy<\/li><li>Follower will localize itself with accuracy of 0.1 m in both x and y direction and the accuracy of 1 deg in yaw angle<\/li><li>Follower will estimate the velocity of the leader to an accuracy of 0.2 m\/s<\/li><li>Follower will follow the leader and maintain a distance less than 2m<\/li><\/ul>\n\n\n\n<p>The following slideshow includes validations of each subsystem on the hardware platform: Perception, Localization, Velocity Estimation, and Control. <\/p>\n\n\n\n<div class=\"video-container\"><p align=\"center\"><iframe loading=\"lazy\" src=\"https:\/\/docs.google.com\/presentation\/d\/e\/2PACX-1vR-xrxaBkca5RIxx7Z08hX-0nY1mNuAahRPgv5zYQw9X0zBnAmX4NEJfpAa9PMERSqdGlAz_CQyXAo5\/embed?start=false&amp;loop=true&amp;delayms=3000\" frameborder=\"0\" width=\"960\" height=\"569\" allowfullscreen=\"true\"><\/iframe><\/p><\/div>\n\n\n\n<hr class=\"wp-block-separator\" \/>\n\n\n\n<div class=\"wp-block-image is-style-default\"><figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"900\" height=\"393\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-content\/uploads\/sites\/62\/2022\/05\/image-2-900x393.png\" alt=\"\" class=\"wp-image-582\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-content\/uploads\/sites\/62\/2022\/05\/image-2-900x393.png 900w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-content\/uploads\/sites\/62\/2022\/05\/image-2-300x131.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-content\/uploads\/sites\/62\/2022\/05\/image-2-768x335.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-content\/uploads\/sites\/62\/2022\/05\/image-2-1536x671.png 1536w, https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-content\/uploads\/sites\/62\/2022\/05\/image-2-2048x894.png 2048w\" sizes=\"auto, (max-width: 900px) 100vw, 900px\" \/><\/figure><\/div>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Demonstration 1 &#8212; Simulation What you will see Leader ice resurfacer detection as well as pose and velocity estimation Follower ice resurfacer localization Fully functional leader follower system Live Demo Success Criteria Follower will estimate the relative position of the leader within 0.1 m accuracy Follower will localize itself with an accuracy of 0.1 m<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/performance\/spring-validation-demo\/\">+ Read More<\/a><\/p>\n","protected":false},"author":292,"featured_media":608,"parent":562,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-567","page","type-page","status-publish","has-post-thumbnail","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/pages\/567","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/users\/292"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/comments?post=567"}],"version-history":[{"count":11,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/pages\/567\/revisions"}],"predecessor-version":[{"id":636,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/pages\/567\/revisions\/636"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/pages\/562"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/media\/608"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/media?parent=567"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}