Embedded Motion Control 2015
Guide towards the assignment
'A-MAZE-ING PICO'
Introduction
This course is about software design and how to apply this in the context of autonomous robots. The accompanying assignment is about applying this knowledge to a real-life robotics task.
Course Schedule and Lecture Slides
Lectures will be given on Wednesdays from 8.45 - 10.30 in Gem-Z 3A-12. The course schedule is as follows:
| April 22 | Introduction | |
| April 29 | Composition pattern part I by Herman Bruyninckx | Tooling and Infrastructure by Sjoerd van den Dries |
| May 6 | First presentation of the design by groups: 6-minute presentation about the group's design in the context of the task-skill-motion system architecture and the composition pattern. | |
| May 13 | Corridor competition | |
| May 20 | Composition Pattern part II by Herman Bruyninckx | |
| May 27 | Second presentation of the design by groups | |
| June 3 | Communication patterns | |
| June 10 | Presentation of final design by groups | |
| June 17 | Final competition | |
Assignment
Design and implement a robotic software system that will let robots Pico/Taco solve a maze in the robotics lab. The maze can contain doors that automatically open and close.
Getting Started
To get started, please do the tutorials on the Tutorial Page. Please note:
- Do all tutorials, and all steps. Missing one step may cause a different behavior or incorrect working system later. If something is not working as expected, make sure you correctly did all previous steps.
- Of course, things may still go wrong. If so, do not hesitate to contact us.
- See Using Pico for a quick overview of how to use Pico.
FAQ
Here you can find a collection of Frequently Asked Questions. Please check this page before contacting the student assistants or the tutors! If you find any issues or questions you had to deal with, please add them as well so your colleagues don't run into the same problems.
Group Wiki Pages
Group 1 - visit wiki - Tutor: Luis Ferreira
Group 2 - visit wiki - Tutor: Luis Ferreira
Group 3 - visit wiki - Tutor: Sjoerd van den Dries
Group 4 - visit wiki - Tutor: Sjoerd van den Dries
Group 5 - visit wiki - Tutor: Yanick Douven
Group 7 - visit wiki - Tutor: Yanick Douven
Group 8 - visit wiki - Tutor: René van de Molengraft
Group 9 - visit wiki - Tutor: René van de Molengraft
Group 10 - visit wiki - Tutor: Yanick Douven
Pico test schedule
In order to test your software on the Pico robot, each group has one one hour time slot a week available. You can reserve your test slot in the table below.
Please charge the robots whenever possible so there is no down time due to empty batteries.
| Date | Time | Group |
|---|---|---|
| 06-05-2014 | 13:00 - 14:00 | |
| 06-05-2014 | 14:10 - 15:10 | |
| 06-05-2014 | 15:20 - 16:20 | |
| 07-05-2014 | 8:30 - 9:30 | |
| 07-05-2014 | 9:40 - 10:40 | |
| 07-05-2014 | 10:50 - 11:50 | 9 |
| 08-05-2014 | 8:30 - 9:30 | 8 |
| 08-05-2014 | 9:40 - 10:40 | |
| 08-05-2014 | 10:50 - 11:50 | |
| 08-05-2014 | 14:10 - 15:10 | 7 |
| 08-05-2014 | 15:20 - 16:20 |
| Date | Time | Group |
|---|---|---|
| 11-05-2014 | 8:30 - 9:30 | |
| 11-05-2014 | 9:40 - 10:40 | |
| 11-05-2014 | 10:50 - 11:50 | |
| 11-05-2014 | 13:00 - 14:00 | |
| 11-05-2014 | 14:10 - 15:10 | |
| 11-05-2014 | 15:20 - 16:20 | |
| 12-05-2014 | 8:30 - 9:30 | |
| 12-05-2014 | 9:40 - 10:40 | |
| 12-05-2014 | 10:50 - 11:50 | |
| 12-05-2014 | 13:00 - 14:00 | |
| 12-05-2014 | 14:10 - 15:10 | 8 |
| 12-05-2014 | 15:20 - 16:20 | 9 |
| 12-05-2014 | 16:30 - 17:30 | 7 |
Group Final Presentations
To be added...
Contact Details
In case of questions related to working with the real PICO robot, please contact Yanick. For questions regarding the simulator or Git, please contact Sjoerd.
Tutors
Sjoerd van den Dries - S dot v dot d dot Dries at tue dot nl
Luis Ferreira - L dot F dot Bento dot Ferreira at tue dot nl
Yanick Douven - y dot g dot m dot douven at tue dot nl
...