1. Anees Elhammali Michael Malluck John Parsons Namrata Sopory
Robot Convoy
Anees Elhammali
Michael Malluck
John Parsons
Namrata Sopory

2. Project Overview ( + + + )*3+ + 4* Convoy bot =
Aim: To simulate a remotely monitored and partially controlled convoy
Convoy bot =
802.11b
hardware ( + + +
Wireless Hub, Game adapter
Olympus Board
Amigobot
)*3+
+ 4*
CMUCAM
Laptop
GT SMARTS

3. Laptop to control overall application
Overview Contd.
Laptop to control overall application
User Interface Front and Back end
Ethernet Communications Driver
Amigobot Driver
Wireless Link
CMUCam Driver needed for visual feedback
Master Robot
Wireless Link
Wireless Link
Slave Robot2
Slave Robot1
Primary Goal: Simulate the behavior of a convoy with three robots
Secondary Goal: Build avoidance algorithm and maintain the structure of the convoy

4. Gantt Chart Name Start Date Duration Task Leader September October
November
Dec 07 14 21 28 05 12 19 26 02 09 16 23 30
Determining Design Goals
9/10/2003 4d
Namrata
Collecting Resources 8d
Amigobot Serial Driver
9/15/2003
16d
Michael
Camera Serial Driver
11d
John
Ethernet Communication Driver
Anees
User Interface Front End
20d
Construction of First Robot
9/22/2003
First Robot Algorithm
10/9/2003
19d
Second and Third Robot Algorithm
Construction of Second Robot
10/13/2003
Construction of Third Robot
10/27/2003
User Interface Back End
11/3/2003
Final Testing
12/1/2003
Demo Due
12/5/2003 1d
All

5. Task Update – User Controls
Tasks:
Develop a GUI for User Controls
Development of the GUI backend
Establish wireless communication with an Amigobot
Send movement commands to the Amigobot
Get visual data from the Amigobot
Get obstacle encounter notification from Amigobot
Multithreading the GUI backend to service multiple functions
Challenges:
Interfacing the wireless communication software with the GUI
Anticipated challenges:
Rendering the visual data received

6. Task Update - Amigobot Driver
Tasks:
Send movement commands to the Amigobot and have it respond
Receive and store sensor data from the Amigobot
Receive path movement data from the laptop
Store path movement data
Be able to transmit all data over a wireless Ethernet link
Enable multithreading for the different Amigobot functions
Issues / Challenges:
Creating an internal xy coordinate system for the Amigobot

7. Task Update – Ethernet Communications
Tasks:
Establish wireless “server-client” communication
Send data over the wireless link
Enable multithreading of the servers
Establish communications and data transfer between two Olympus boards
Issues/Challenges:
Running the Server and Client on different platforms (Java and .Net framework)
Concerns:
Receiving Olympus boards on time
Determining the best manner in which to transmit visual data

8. Task Update - CMUCam Driver
Tasks:
Do away with unnecessary built in functionality
Build efficient code to get an image from the camera
Send frequently refreshed images to the laptop
Challenges:
Existing code was badly commented
Concerns:
Completing task three without compromising the Amigobot functionality
Transmitting image data over the Ethernet connection

9. Questions ?