build details

# Zürich branch diary

Modified 2017-10-22 by lapandic

## Wed Sep 20: Welcome to Duckietown!

Modified 2017-09-25 by Andrea Censi

This was an introduction meeting.

## Monday Sep 25: Introduction to autonomy

Modified 2017-09-25 by Andrea Censi

## Monday Sep 25, late at night: Onboarding instructions

Modified 2017-09-25 by Andrea Censi

At some late hour of the night, we sent out the onboarding instructions.

Please complete the onboarding questionnaire by Tuesday, September 26, 15:00.

## Wednesday Sep 27: Duckiebox distribution, and getting to know each other

Modified 2017-09-25 by Jacopo Tani

Today we distribute the Duckieboxes and we name the robots. In other words, we perform the Duckiebox ceremony.

• getting to know each other;
• naming the robots;
• distribute the Duckieboxes.

If you cannot make it to this class for the Duckiebox distribution, please inform the TA, to schedule a different time.

### Preparation, step 1: choose a name for your robot

Modified 2017-09-25 by Jacopo Tani

Before arriving to class, you must think of a name for your robot.

Here are the constraints:

• The name must work as a hostname. It needs to start with a letter, contains only letters and numbers, and no spaces or punctuation.
• It should be short, easy to type. (You’ll type it a lot.)
• It cannot be your own name.
• It cannot be a generic name like “robot”, “duckiebot”, “car”. It cannot contain brand names.

### Preparation, step 2: prepare a brief elevator pitch

Modified 2017-09-25 by Andrea Censi

As members of the same community, it is important to get to know a little about each other, so to know who to rely on in times of need.

During the Duckiebox distribution ceremony, you will be asked to walk up to the board, write your name on it, and introduce yourself. Keep it very brief (30 seconds), and tell us:

• what is your professional background and expertise / favorite subject;
• what is the name of your robot;
• why did you choose to name your robot in that way.

You will then receive a Duckiebox from our senior staff, a simple gesture but of sempiternal glory, for which you have now become a member of the Duckietown community. This important moment will be remembered through a photograph. (If in the future you become a famous roboticist, we want to claim it’s all our merit.)

Finally, you will bring the Duckiebox to our junior staff, who will apply labels with your name and the name of the robot. They will also give you labels with your robot name for future application on your Duckiebot.

## Thursday Sep 28: Misc announcements

Modified 2018-06-25 by Andrea Censi

We created the channel #ethz-chitchat for questions and other random things, so that we can leave this channel #ethz-announcements only for announcements.

We sent the final list to the Department; so hopefully in a couple of days the situation on MyStudies is regularized.

The “lab” time on Friday consists in an empty room for you to use as you wish, for example to assembe the robots together. In particular, it’s on the same floor of the Duckietown room and the IDSC lab.

The instructions for assembling the Duckiebots are here. Note that you don’t have to do the parts that we did for you: buying the parts, soldering the boards, and reproducing the image.

Expected progress: We are happy if we see everybody reaching up to (unknown ref opmanual_duckiebot/rc-cam-launched-remotely)

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by Monday October 9. You are encouraged to start very early; it’s likely that you will not receive much help on Sunday October 8…

## Sep 28: some announcements

Modified 2018-06-25 by Andrea Censi

A couple of announcements:

1. We created #ethz-chitchat for questions and other random things, so that we can leave this channel #ethz-announcements only for announcements.

2. MyStudies should be updated with everybody’s names.

3. The “lab” time tomorrow consists in an empty room for you to use as you wish, for example to assemble the robots together. In particular, it’s on the same floor of the Duckietown room and the IDSC lab.

4. The instructions for assembling the Duckiebots are here. Note that we did for you step I-2 (buying the parts) and I-3 (soldering the boards); and I-6 is optional.

5. We are happy if we see everybody reaching I-13 by the Monday after next. I encourage you to start sooner than later.

6. I see only 30 people in this channel instead of 42. Please tell your friends that now all the action is on Slack.

## Oct 01 (Mon): Announcement

Modified 2017-10-02 by Andrea Censi

It looks like that the current documentation is misleading in a couple of points. This is partially due to the fact that there is some divergence between Chicago, Montreal and Zurich regarding (1) the parts given out and (2) the setup environment (which networks are available). We did the simple changes (e.g. removing the infamous part 6), but we need some more time to review the other issues. At this point, the best course of action is that you enjoy your weekend without working on Duckietown, while we spend the weekend fixing the documentation.

## Oct 02 (Mon): Networking, logical/physical architectures

Modified 2017-10-02 by Andrea Censi

## Oct 04 (Wed): Modeling

Modified 2017-10-04 by lapandic

## Oct 09 (Mon): Autonomy architectures and version control

Modified 2017-10-10 by lapandic

## Oct 11 (Wed): Computer vision and odometry calibration

Modified 2017-10-18 by Jon Michaux

## Oct 13 (Fri): new series of tasks out

Modified 2017-10-18 by Jon Michaux

### Taking a video of the joystick control

Modified 2017-10-18 by Jon Michaux

Please take a video of the robot as it drives with joystick control, as described in Section 16.7 - Upload your video and upload it according to the instructions.

### Camera calibration

Modified 2018-06-25 by Andrea Censi

Go forth and calibrate the camera! And get help in #help-camera-calib.

### Wheel calibration

Modified 2017-10-18 by Jon Michaux

This is not ready yet! will be ready in a day or so.

### Taking a log check off

Modified 2017-10-18 by Jon Michaux

Follow the instructions here to learn how to take a log.

### Data processing exercises

Modified 2017-10-18 by Jon Michaux

Get help in #ex-data-processing.

## Oct 16 (Mon): Line detection

Modified 2017-10-22 by lapandic

## Oct 18 (Wed): Feature extraction

Modified 2017-10-22 by lapandic

## Oct 20 (Fri): Lab session

Modified 2017-10-24 by Jacopo Tani

## Oct 23 (Mon) Filtering I

Modified 2017-10-26 by Harshit Khurana

## Oct 25 (Wed) Filtering II

Modified 2017-10-26 by Harshit Khurana

a - Lectures (Particle Filter) PowerPoint presentation, PDF.

b - Lectures (Lane Filter) PowerPoint presentation, PDF.

## Nov 1 (Wed) Control Systems

Modified 2017-11-06 by Harshit Khurana

a - Lectures (Control Systems Module I) PowerPoint presentation, PDF.

b - Lectures (Control Systems Module II) PowerPoint presentation, PDF.

Points to be noted - Running what-the-duck on laptop and Duckiebot is mandatory. It helps save time in debugging errors and also is a standard way to ask for help from the staff. Keep repeating it periodically so as to keep the data up-to date - For the people lacking calibrated wheels, this serves as a reminder to calibrate the wheels and keep their duckiebot up-to date - It is advised to fill the lecture feedback form (Feedback form), so as to increase the effectiveness of the lectures - Always check the consistency of the camera calibration checkerboard before camera calibration (one has to check for the correct square size and correct distance between world and checkerboard reference)

## Nov 6 (Mon) Project Pitches

Modified 2017-11-10 by merniethz

Lecture Project Pitches PDF.

## Nov 8 (Wed) Motion Planning

Modified 2018-04-29 by Andrea Censi

Lecture Motion Planing PDF.

A few references for planning of Andrea Censi:

## Nov 13 (Mon) Project Team Assignments

Modified 2017-11-17 by merniethz

• First Lecture: Project Team Assignments PDF.
• Second Lecture: First meeting of the Controllers group –> Filling out the Preliminary Design Document

## Nov 15 (Wed) Putting things together

Modified 2017-11-17 by merniethz

• First Lecture: Putting things together PDF.
• Second Lecture: Second meeting of the Controllers group –> Filling out the Preliminary Design Document

## Nov 22 (Wed) Fleet Control

Modified 2017-12-04 by migueldelaiv

• Lecture: Fleet Control in Autonomous Mobility on Demand PDF.

## Nov 27 (Mon) Inermediate design Report

Modified 2018-06-25 by Andrea Censi

## Nov 29 (Wed) Fleet Control

Modified 2017-12-04 by migueldelaiv

• First Lecture: Clausdio finished Fleet Control in Autonomous Mobility on Demand PDF.

• Second Lecture Julian Presented the state of the art in data driven vs Model driven robotics. PDF

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