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 visionӦ

• 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

1. TRR-7-09/07

1. TRR-8-30/07

1. TRR-9-20/08