Project Information

Introduction to Intelligent Systems (430.457) Fall 2018

Project Schedule


Dates Tasks
09/05 - 09/19 preProject1 : Install the Linux and follow basic tutorial on ROS.
09/20 - 09/28 preProject2 : Run examples on ROS and simulate Racecar on GAZEBO.
10/01 - 10/10 Project1 : Implement PID control algorithm in C/C++. Simulate RC car control using PID control on GAZEBO.
10/11 - 10/20 Project2 : Implement RRT in C/C++. Combine RRT with PID algorithm Simulate together on GAZEBO.
11/05 - 11/17 Project3 : Running SLAM algorithm in C/C++. Simulate the algorithm on GAZEBO.
11/19 - 11/30 Project4 : Running AMCL algorithm in C/C++. Simulate RC car turning around a track on GAZEBO.
12/10 - 12/14 Contest Week
  • Your team score and ranking will be posted in the class homepage.
  • Score and ranking will be updated every time you submit a revised code.
  • You can submit your revised code at any time during the contest week.
12/17 - 12/20

Hardware Test

  • Apply your algorithm on a real RC car.
12/21 RC Car Racing Challenge (with real RC cars)

 

Racing Challenge (12/21)


results:

Rank Team Record1 Record2
# of milestones  time # of collisions # of milestones  time # of collisions
1 Inexperienced Driver 6 0:51 0 6 0:39 0
2 Frontier fail     6 0:44 0
3 Drunk Driving 4 - 2 6 0:55 0
4 Real 6 1:04 0 6 - -
5 Mimi_ZZang 4 - 3 6 1:19 0
6 Dogs and Pigs 6 1:48 0 6 1:09 1
7 Mamba Samba 6 2:10 4 6 1:02 1
8 Waeguk fail     1 - 1
9 Mazerunner            


Contest Week (12/10 ~ 12/14)


Implement a code for performing several missions.

Result 

Criteria: Missions >> Time >> Distance (Time includes time for generating path)

Missions includes "turning around outer track" + "visit some goal points"

If the result is not better than before, the score will not be updated in the list. In that case, we will only write the submission time . 

Friday (12/13) : ~Final Result~

Rank Team Name   scenario1 scenario2
result submission time/Note
1 Frontier  Missions  (1+3)/4    (1+3)/4   8/8  23:59
       Time(s) 1:41  1:53    
2 REAL Missions (1+3)/4  (1+3)/4   8/8  23:52 v3
    Time(s)  1:43 1:53    
3 Inexperienced driver  Missions   (1+3)/4  (1+3)/4  8/8 23:57 collision
    Time(s)    1:51   2:10    
4 Mimi_ZZang Missions   (1+3)/4  (1+3)/4 8/8  00:02
     Time(s) 1:50  2:14     
5 MambaSamba Missions (1+3)/4 (1+3)/4 8/8 23:30(collision)
    Time(s) 2:32 3:54    
6 Drunk Driving  Missions  (1+3)/4   (1+3)/4  8/8  
    Time(s)    3:23    13:02    
7 Dogs and Pigs Missions   (1+3)/4  (1+1)/4 6/8  23:57 collision
     Time(s)  3:22  -    Collision
8 Waeguk Missions  (1+3)/4  (1+1)/4  6/8   23:24 (RRT failed on both scenarios)
      Time(s) 3:39     Collision
9 Mazerunner Missons - - 0/8  
       -  -   s1,s2: RRT fail

Thursday (12/12) : updated(23:19)

Rank Team Name   scenario1 scenario2
result submission time/Note
1 Inexperienced driver  Missions   (1+3)/4  (1+3)/4  8/8  22:51
     Time(s)  1:51  2:10    
2 Mimi_ZZang Missions   (1+3)/4  (1+3)/4 8/8   17:51(collision on both scenario)
     Time(s) 1:47  2:24     
3 Frontier  Missions (1+3)/4   (1+3)/4 8/8  14:11
      Time(s) 2:06 2:16    
4 MambaSamba Missions (1+3)/4 (1+3)/4 8/8 22:11
    Time(s) 2:32 3:54    
5 Waeguk Missions (1+0)/4 (1+0)/4 2/8   17:02 (Collision on both scenario)
    Time(s)        
6 Drunk Driving Missions (1+0)/4 - 1/8  17:55 (RRT failed on both scenario
    Time(s) - -  

s1: Collision due to incomplete path, s2: RRT fail

7  REAL   Missions (0+0)/4 - 0/8   22:29(Collision on both scenario)
    Time(s)    -  -   s1: RRT done. but Collided, s2: RRT fail 
8  Mazerunner   Missions  -  0/8  
    Time(s)   -    s1,s2 : RRT fail
9 Dogs and Pigs Missions       0/8  17:55 (RRT failed on both scenario)
     Time(s)       s1,s2: RRT fail

Wednesday (12/12) : updated(26:50)

* I changed scenario 2 waypoints set.

Rank Team Name   scenario1 scenario2
result submission time/Note
1 Mimi_ZZang Missions   (1+3)/4  (1+3)/4 8/8   16:16
     Time(s) 1:47  2:24     
MambaSamba Missions (1+2)/4 (1+3)/4 7/8 26:18 (both scenario collided)
     Time(s) 5:50    s1: collision
3 Frontier  Missions (1+3)/4   (1+0)/4 5/8   13:48
      Time(s)  2:01    s2: RRT done, but collided
4  inexperienced driver  Missions (1+3)/4  (0+0)/4 4/8   19:14
    Time(s)   1:46  -   s2: RRT done, but collided
5 Drunk Driving Missions (1+0)/4 - 1/8  22:59 (RRT fail in both scenario)
    Time(s) - -  

s1: Collision due to incomplete path, s2: RRT fail

6  REAL   Missions (0+0)/4 - 0/8   17:58 (RRT fail in both scenario)
    Time(s)    -  -   s1: RRT done. but Collided, s2: RRT fail 
7  Mazerunner   Missions  -  0/8  14:39
    Time(s)   -    s1,s2 : RRT fail
8 Dogs and Pigs Missions       0/8  16:58
     Time(s)       s1,s2: RRT fail
9  Waeguk  Missions      0/8  17:58
    Time(s)       error : segmentation fault

Tuesday (12/11) : updated(23:40)

Rank Team Name   scenario1 scenario2
result submission time/Note
1 Frontier  Missions (1+3)/4   (1+0)/4 5/8   23:02
     Time(s)  2:01  -    s2: RRT done, but collided
2  inexperienced driver  Missions (1+3)/4  4/8   22:02
    Time(s)   3:53  -   s2: RRT fail - couldn't make path 
3  MambaSamba Missions - (1+1)/4 2/8   01:21 
    Time(s) -  -  

 s1: wrong RRT(going inside) ,s2: collision

4 Drunk Driving Missions (1+0)/4 - 1/8 20:25
    Time(s) - -  

s1: Collision due to incomplete path, s2: RRT fail

5  REAL   Missions (0+0)/4 - 0/8   18:02
    Time(s)    -  -   s1: RRT done. but Collided, s2: RRT fail 
6  Mazerunner   Missions  -  0/8  18:05
    Time(s)   -    s1,s2 : RRT fail
             
7            
             
8            
             
9            
             

Monday (12/10) : None

Project4 (due: 12/06, 11:59PM)


 Implement AMCL algorithm in C/C++. Simulate RC car control on GAZEBO.

Result

Team Name Given path Note
Mimi_ZZang  Success  
Frontier   Success  
MambaSamba   Success  
Waeguk   Success  
Dogs and Pigs   Success  
Mazerunner Fail  
REAL  Success   
Inexperienced Driver   Success  
Drunk driving  Success   

Project3 (due: 11/17, 11:59PM)


 Running SLAM algorithm in C/C++. Simulate the algorithm on GAZEBO.

Result

We checked "hector_slam_map_[localtime].tif" file in compressed folders. Screenshot results of rviz were also accepted. 

Team Name Given path Note
Mimi_ZZang Success  
Frontier Success  
MambaSamba Success  
Waeguk Success  
Dogs and Pigs Success  
Mazerunner Fail  
REAL Fail  
Inexperienced Driver Success  
Drunk driving Success  

 

Teams after the midterm


  Team Name Member 1
Member 2
Member 3
1 Mimi_ZZang 장하민 정천기  홍민의
2 Frontier 이민형 윤민혁 허진욱
3 MambaSamba 한승주 이원석 김현식
4 Waeguk Lachlan Yichen Huang Ludvig Magnus Aaberg Aas Tang Yecheng 
5 Dogs and Pigs 강동주 홍성민 오우석
6 Mazerunner Jonne Patrick Mikael Sotala Kulwa Juma Kanani Lukas Xaver Loosli
7 REAL 강민재 신채훈 김태현
8 Inexperienced Driver 김예준  성명석 심소희
9 Drunk driving 박정호  이건민 도우형

Project2 (due: 10/20, 11:59PM)


 Implement RRT algorithm in C/C++. Simulate RC car control on GAZEBO.

Result

An arbitrary path is used for testing

Team Name Given path Time Test path
Time Note
Mimi_ZZang Fail   Fail   segmentation fault
Frontier Success 182.7 Success 144.3   
MambaSamba Success 262.3 Success 145.7  
Waeguk Fail   Fail   cannot follow a path
Dogs and Pigs Success 217.4 Fail   collision at the test waypoints
Mazerunner Fail   Fail   collision path
REAL Fail   Fail   terminal condition imcomplete!!!
Inexperienced Driver Success 207.2 Fail   collision occurs with the test path
Drunk Driving Success 226.8 Fail   The last goal is too far from the waypoint and it cannot spawn the test path
Pumba Fail   Fail   collision path

Project1 (due: 10/10, 11:59PM)


 Implement PID control algorithm in C/C++. Simulate RC car control using PID control on GAZEBO.

Result

An arbitrary path is used for testing

Team Name Given path Time Test path
Time Note
Mimi_ZZang Success  70.2 Success   99.7  
Frontier Success  69.9 Success 113.1  
MeganFox Fail   Fail     
MambaSamba Success   85.2 Success  107.6  
Waeguk Success  69.2 Success   120.9  
Dogs and Pigs  Success  71.1 Success  100.0  
Mazerunner  Success   70.7 Fail    
REAL  Success  69.3 Fail     
Inexperienced Driver  Success   78.0 Fail    
Drunk Driving  Success  79.7 Success  155.0  
Pumba  Success  70.2 Success   102.6  

 Teams


  Team Name Member 1
Member 2
Member 3
1 Mimi_ZZang 장하민 정천기  홍민의
2 Frontier 이민형 윤민혁 허진욱
3 MeganFox 김준호 윤석찬 이현수
4 MambaSamba 한승주 이원석 김현식
5 Waeguk Lachlan Yichen Huang Ludvig Magnus Aaberg Aas Tang Yecheng 
6 Dogs and Pigs 강동주 홍성민 오우석
7 Mazerunner Jonne Patrick Mikael Sotala Andrea Park Lukas Xaver Loosli
8 REAL 강민재 신채훈 김태현
9 Inexperienced Driver 김예준  성명석 심소희
10 Drunk driving 박정호  이건민 도우형
11 Pumba 김병현 민대원 Kulwa Juma Kanani

PreAssignment2 (due: 9/28, 11:59PM)


Run examples on ROS and simulate RC car control on GAZEBO.

PreAssignment1 (due: 9/19, 11:59PM)


Install the Linux on your computer and run "Hello World" example on ROS.