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Sprints coarse definition

Sprint TRR-1 05/03: “Unifying with Magellium & InFuse”

  • Main goal: using ASN defined structures for the DFNs and DFPCs of the first instance of the sense(Lidar+DEM) / plan / move loop.
  • DFPCs to initiate: VO Laas version
  • DFPCs to work on: POM (using Envire)
  • Non-LAAS DFPCs to integrate: None
  • DFPCs to finalize: DEM building
  • Targeted integration / demonstration (with Morse): same as previous sprint, with ASN.1 data types.

sprint TRR-2 26/03: "Empowering robots with vision”

  • Main objective: integrate vision-based DFPCs
  • DFPCs to initiate: PlanTrajectory (out of InFuse scope)
  • DFPCs to work on: POM, VO
  • Non-LAAS DFPCs to integrate: stereovision (MAG)
  • DFPCs to finalize: None
  • Targeted integration / demonstration (with Morse): same as previous sprint, with stereovision instead of Lidar.

sprint TRR-3 16/04: “Porting the DFPCs on the real robots (part 1)"

*the Morse simulator will still be used)

  • Main objective: start the integration of the finalized DFPCs on-board the robots

Deploy Camera, Velodyne, GPS and Robots drivers

  • DFPCs to initiate: None
  • DFPCs to work on: POM
  • Non-LAAS DFPCs to integrate: VO (MAG version)
  • DFPCs to finalize: VO (Laas version), PlanTrajectory (out of InFuse scope)
  • Targeted integration / demonstration: first tests in LAAS premises with Mana (Lidar)

sprint TRR-4 07/05: “Porting the DFPCs on the real robots (part 2)"

the Morse simulator will still be used

  • Main objective: finish the integration of the finalized DFPCs on-board the robots
**DFPCs to initiate: None
  • DFPCs to work on: POM
  • Non-LAAS DFPCs to integrate: Point-Cloud Model-based localisation (UStrath)
  • DFPCs to finalize: None
  • Targeted integration / demonstration: first tests in LAAS premises with Minnie (vision)

sprint TRR-5 28/05: "Finalize integration on the robots to prepare CNES tests"

  • Main objective: having all the necessary functionalities ready to achieve tests at CNES
  • DFPCs to initiate: PoseGraph Lidar SLAM
  • DFPCs to work on: None
  • Non-LAAS DFPCs to integrate: Visual SLAM (MAG -- No loop closing, no POM integration)
  • DFPCs to finalize: POM (VO & Odometry integration)
  • Targeted integration / demonstration: more testings with Mana and Minnie in LAAS premises (parking lot)

sprint TRR-6 18/06: "First test session at CNES"

  • Main objective: perform tests of the following DFPCs: DEM building, VO (Laas version, MAG version), POM (VO & Odometry integration), Point-Cloud Model-Based Localisation, PlanTrajectory
  • DFPCs to initiate: None
  • DFPCs to work on:
  • Non-LAAS DFPCs to integrate: Visual SLAM (MAG -- No loop closing, no POM integration)
  • DFPCs to finalize: POM (VO & Odometry integration)

After CNES tests: (program to be refined)

  • DFPCs to develop and integrate:
  • Pose-Graph Lidar SLAM / Lidar Map-Based Localisation
  • Absolute Localization
  • Multi-Robot requests
  • Full fledged POM

TRR-7-09/07

TRR-8-30/07

TRR-9-20/08

Updated by Simon Lacroix about 6 years ago · 2 revisions