{"id":569,"date":"2022-05-05T23:22:20","date_gmt":"2022-05-05T23:22:20","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/?page_id=569"},"modified":"2022-12-11T23:31:25","modified_gmt":"2022-12-11T23:31:25","slug":"fall-validation-demo","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/performance\/fall-validation-demo\/","title":{"rendered":"Fall Validation Demo"},"content":{"rendered":"\n<h3 class=\"wp-block-heading\">Demonstration 1 &#8212; Yamaha ATV<\/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>Fully functional leader follower system with two Yamaha ATVs<\/li><\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><strong><strong>Live Demo<\/strong><\/strong><\/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\/1acsMdpAIKiQ6ynUxI7x6fLACXTzzq-u6\/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\/16amDLu-ZYCVoSb86TG16GYtOFfxHAFax\/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<ol class=\"wp-block-list\"><li>The follower platform should detect the leader in \u226595% of the frames<\/li><li>The follower will estimate the relative pose of the leader within 0.1 m accuracy<\/li><li>The follower will estimate leader\u2019s velocity to an accuracy of 0.1 m\/s<\/li><li>The follower will localize itself within 0.1 m accuracy<\/li><li>&nbsp;The follower will follow the leader with a head-to-tail longitudinal distance of 6.00 m \u00b11.00 m<\/li><li>The follower will follow the leader with a center-to-center lateral offset of 0.98 m \u00b10.50 m<\/li><\/ol>\n\n\n\n<p>We met all criteria above. The following slideshow includes explicit validations of Perception and Control subsystems in a fully functional leader-following system on ATV.<\/p>\n\n\n\n<div class=\"video-container\"><p align=\"center\"><iframe loading=\"lazy\" src=\"https:\/\/docs.google.com\/presentation\/d\/e\/2PACX-1vSh2rDXpZYebdOKKAdcs0e40chfBCUQ6oLKyXD0nOmXm6muf1KoRIWpWmUJXyQUztnXUU4-GxTeSMrl\/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 is-style-dots\" \/>\n\n\n\n<h3 class=\"wp-block-heading\">Demonstration 2 &#8212; Zamboni<\/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>Fully functional leader follower system on Zamboni<\/li><li>Obstacle detection and avoidance<\/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\/1ktg62CDJDJobB2YpVCWNKrZ3Q3lMeD0I\/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\/1NutV94td_BpUjpdtjZAL_0FfRtM-od-9\/preview\" width=\"640\" height=\"480\"><\/iframe><\/p><\/div>\n<\/div>\n<\/div>\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\/1KXyaxRvI2qbWy5ao93D1BWDTXaVAV-BJ\/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\/1bzlHAHXnGQOWRa50eQktz1g0lh5aUiTn\/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<ol class=\"wp-block-list\"><li>The follower platform should detect the leader in \u226595% of the frames<\/li><li>The follower will estimate the relative pose of the leader within 0.1 m accuracy<\/li><li>The follower will estimate leader\u2019s velocity to an accuracy of 0.1 m\/s<\/li><li>The follower will localize itself within 0.1 m accuracy<\/li><li>&nbsp;The follower will follow the leader with a head-to-tail longitudinal distance of 6.00 m \u00b11.00 m<\/li><li>The follower will follow the leader with a center-to-center lateral offset of 0.98 m \u00b10.50 m<\/li><li>The follower will detect the obstacle kept in its path and stop before it hits the obstacle.<\/li><\/ol>\n\n\n\n<p>We met all criteria above. The following slideshow includes explicit validations of Control, Drive-by-Wire, and Obstacle Detection subsystems on Zamboni.<\/p>\n\n\n\n<div class=\"video-container\"><p align=\"center\"><iframe loading=\"lazy\" src=\"https:\/\/docs.google.com\/presentation\/d\/e\/2PACX-1vTVmfntdhuYR4_52Fk5ttXpclIJ-X-liWiW2zlhEBdB3SQ5dTgINJLjKlcojTlbmNCP8-JoHlHazj4t\/embed?start=false&amp;loop=true&amp;delayms=3000\" frameborder=\"0\" width=\"960\" height=\"569\" allowfullscreen=\"true\"><\/iframe><\/p><\/div>\n","protected":false},"excerpt":{"rendered":"<p>Demonstration 1 &#8212; Yamaha ATV What you will see Fully functional leader follower system with two Yamaha ATVs Live Demo Success Criteria The follower platform should detect the leader in \u226595% of the frames The follower will estimate the relative pose of the leader within 0.1 m accuracy The follower will estimate leader\u2019s velocity to<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/performance\/fall-validation-demo\/\">+ Read More<\/a><\/p>\n","protected":false},"author":292,"featured_media":739,"parent":562,"menu_order":1,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-569","page","type-page","status-publish","has-post-thumbnail","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/pages\/569","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=569"}],"version-history":[{"count":5,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/pages\/569\/revisions"}],"predecessor-version":[{"id":782,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/pages\/569\/revisions\/782"}],"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\/739"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/media?parent=569"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}