Project Information

Project Schedule


Dates Tasks
09/02 - 09/16 preProject1 : Install the Linux and follow basic tutorial on ROS.
09/16 - 09/28 preProject2 : Run examples on ROS and simulate Racecar on GAZEBO.
9/28 - 10/14 Project1 : Implement PID control algorithm in C/C++. Simulate RC car control using PID control on GAZEBO.
10/28 - 11/11 Project2 : Implement RRT in C/C++. Combine RRT with PID algorithm Simulate together on GAZEBO.
11/11 - 11/23 Project3 : Running SLAM algorithm in C/C++. Simulate the algorithm on GAZEBO.
11/23 - 12/04 Project4 : Running AMCL algorithm in C/C++. Simulate RC car turning around a track on GAZEBO.
12/09 - 12/13 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.
12/14 - 12/17

Hardware Test

  • Apply your algorithm on a real RC car.
12/19 RC Car Racing Challenge (with real RC cars)


Racing Challenge (12/19)


Results:

Rank Team Name # of Waypoints # of Collisions Time
1 GodTeam 8/8 1 0:52
2 SuperEasy 8/8 4 1:17
3 Averagers 8/8 6 0:59
4 Carpago 7/8 2 0:41
5 Model_Z 3/8 3 0:38
6 Intelligent baduk 2/8 5 0:50
7 InvictusBot 1/8 1 0:23
8 Imposter 1/8 1 1:13


Contest Week (12/09~12/13)


Result 

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

Missions include "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.

"Submission time" indicates your teams' most recent submission time, and "Best" indicates the submission time of your teams' best record algorithms.

 

For the last update, we are going to collect all your final codes and test them carefully.

The results will be uploaded TOMORROW(12/14) AFTERNOON!

(Only the last code submitted before 23:59 will be tested.)

Sunday (12/13) : Final

Rank Team name   Scenario 1 Scenario 2 Result Submission time / Best Note
1 Intelligent baduk Missions (1+3)/4 (1+3)/4 8/8 Sun 23:58 / Sun 23:58  
    Time(s)  2:15 2:18      
2 Averagers Missions (1+3)/4 (1+3)/4 8/8 Sun 23:54 / Sun 22:35   slower record
    Time(s) 2:55 2:36      
3 SuperEasy Missions  (1+3)/4  (1+3)/4  8/8 Sun 23:34 / Sun 06:29

Wrong file format

    Time(s)

2:58

2:40      
4 Imposter Missions (1+3)/4 (1+3)/4 8/8  Sun 23:42 / Sun 23:42  
    Time(s)  3:31 3:10      
5 Carpargo Missions (1+3)/4 (1+3)/4 8/8 Sun 23:58 / Thu 10:46 Scenario 1&2: Collision with the wall
    Time(s) 3;43 3:18      
6 GodTeam Missions (1+3)/4 (1+3)/4 8/8 Sun 23:55 / Sun 23:55  
    Time(s)  4:43 4:42      
7 Model_Z Missions (1+1)/4 (1+3)/4 6/8 Sun 23:35 / Sun 13:42

Scenario 1&2: Collision with the wall (on the way to some goal points). Car cannot follow the RRT path well.

 

    Time(s)  - 2:53      

8

 

InvictusBot  Missions  (0+0)/4 (1+3)/4  4/8 Sun 23:35 / Sat 17:58

 Scenario 1: RRT fail (time out).

    Time(s)   -  9:31      

 

Saturday (12/12) : 21:22 updated

Rank Team name   Scenario 1 Scenario 2 Result Submission time / Best Note
1 Carpago Missions (1+3)/4 (1+3)/4 8/8 Thu 10:46 / Thu 10:46  
    Time(s) 3:43 3:18      
2 Imposter Missions (1+3)/4 (1+3)/4 8/8  Sat 19:02 / Sat 19:02  
    Time(s)  4:33 4:07      
3 SuperEasy Missions (1+3)/4 (1+3)/4 8/8 Sat 18:22 / Sat 18:22  
    Time(s) 4:01  5:40       
4 Averagers Missions (1+3)/4 (1+3)/4 8/8 Sat 18:50 / Sat 12:06  Scenario 1 : Car cannot follow path.

(Car circles around a point.)

    Time(s)

5:09

4:41      
5 Model_Z Missions (1+1)/4 (1+3)/4 6/8  Sat 17:13 / Fri 23:48 Scenario 1 : Collision with the wall. 
    Time(s)   2:54      
5 GodTeam Missions (1+1)/4 (1+3)/4 6/8 Sat 19:00 / Thu 4:33

Scenario 1 : rrt Fail

Scenario 2 : Success & time decreased (but total best is Thu 4:33)

    Time(s)  - 9:49      
6 Intelligent baduk   Missions (0+0)/4 (1+3)/4 4/8 Sat 17:22 / Thu 19:46

Scenario 1 - RRT Fail (seg. fault) Scenario2 : Collision

    Time(s)  -  3:17      

8

 

InvictusBot  Missions  (0+0)/4 (1+3)/4  4/8 Sat 17:58 / Sat 17:58

 Scenario 1 : RRT fail (time out).

    Time(s)     9:31      

 

Friday (12/11) : 22:16 updated

Rank Team name   Scenario 1 Scenario 2 Result Submission time / Best Note
1 Carpago Missions (1+3)/4 (1+3)/4 8/8 Thu 10:46 / Thu 10:46  
    Time(s) 3:43 3:18      
2 Imposter Missions (1+3)/4 (1+3)/4 8/8  Fri 18:18 / Thu 10:23 Scenario 1&2 : Collision with wall
    Time(s)  5:12 5:28      
3 GodTeam Missions (1+1)/4 (1+3)/4 6/8 Thu 15:31 / Thu 4:33 Same result, slower record
    Time(s)  - 9:49      
4 Intelligent baduk   Missions (0+0)/4 (1+3)/4 4/8 Thu 19:46 / Thu 19:46

Scenario 1 - RRT Fail (seg. fault)

    Time(s)  -  3:17      
5 Averagers Missions (1+3)/4 (0+0)/4 4/8 Fri 18:49 / Fri 18:49

Scenario 2 : Car cannot follow path.

(Car circles around a point.)

    Time(s) 5:29        
6 SuperEasy Missions (1+1)/4 (1+0)/4 3/8 Fri 19:05 / Thu 18:49 Scenario 1&2 : RRT Fail (seg. fault)
    Time(s)          
6 InvictusBot  Missions  (0+0)/4 (1+2)/4  3/8 Fri 17:10 / Fri 17:10

 Scenario 1 : RRT takes too much time.

Scenario2 : Collision with the wall.

    Time(s)           
8 Model_Z  Missions (1+1)/4 (0+0)/4 2/8  Fri 14:58 / Fri 14:58 Scenario 1&2 : Collision with the wall.
    Time(s)          

 

Thursday (12/10) : 21:50 updated

Rank Team name   Scenario 1 Scenario 2 Result Submission time / Best Note
1 Carpago Missions (1+3)/4 (1+3)/4 8/8 Thu 10:46 / Thu 10:46  
    Time(s) 3:43 3:18      
2 Imposter Missions (1+3)/4 (1+3)/4 8/8  Thu 19:08 / Thu 10:23 slower record
    Time(s)  5:12 5:28      
3 GodTeam Missions (1+1)/4 (1+3)/4 6/8 Thu 15:31 / Thu 4:33 Same result, slower record
    Time(s)  - 9:49      
4 Intelligent baduk   Missions (0+0)/4 (1+3)/4 4/8 Thu 17:46 / Thu 17:46 Scenario 1 - RRT Fail (seg. fault)
    Time(s)  -  3:17      
5 SuperEasy  Missions  (1+1)/4 (1+0)/4  3/8 Thu 18:49 / Thu 18:49 

Scenario 1 - Collision with the wall.

Scenario 2 - Collision with the wall.

 
    Time(s)           
6  Model_Z   Missions  (1+0/4 (0+0)/4  1/8 Thu 18:59 / Thu 18:59

Scenario 1 - Collision with the wall.

Scenario 2 - Collision with the wall.

 
    Time(s)           
Averagers   Missions  -      
    Time(s)           
InvictusBot   Missions      
    Time(s)          

 

Wednesday (12/09) : 20:17 updated

Rank Team name   Scenario 1 Scenario 2 Result Submission time / Best Note
- Imposter Missions (0+0)/4 (0+0)/4 0/8 18:07 / Wed 18:07 RRT failed (segmentation fault)
    Time(s)      
- Carpago Missions (0+0)/4 (0+0)/4 0/8 18:23 / Wed 18:23 RRT failed (segmentation fault)
    Time(s)  -      
- SuperEasy Missions (0+0)/4 (0+0)/4 0/8 18:41 / Wed 18:41 RRT failed (segmentation fault)
    Time(s)  -      
- GodTeam Missions (0+0)/4 (0+0)/4 0/8 18:58 / Wed 18:58

Scenario 1 - Collision with the wall.

Scenario 2 - Infinite loop

    Time(s)  -  -      
Intelligent baduk   Missions  -      
    Time(s)           
InvictusBot   Missions  -      
    Time(s)           
Averagers   Missions  -      
    Time(s)           
Model_Z   Missions      
    Time(s)          

 

Project4 (due: 12/04, 11:59PM)


Running AMCL algorithm in C/C++. Simulate RC car turning around a track on GAZEBO.

Result

 

Team Name Given Path Notes
Carpago Success  
 GodTeam Success  
SuperEasy Success  
Intelligent baduk  Success  
Imposter  Success  
InvictusBot  Fail Car doesn't move from initial point.
Averagers Fail  Collision with the wall.
Model_Z  Success  

 

Project3 (due: 11/23, 11:59PM)


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

Result

 

Team Name RRT Mapping Notes
Carpago Success Success  
 GodTeam Success Success  
SuperEasy Success Success  
Intelligent baduk  Success Success  
Imposter  Success Success  
InvictusBot  Fail  Fail Segmentation Fault
Averagers Success Success  
Model_Z  Success Success  

 

 

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


 Implement RRT in C/C++. Combine RRT with PID algorithm Simulate together on GAZEBO.

Result

An arbitrary path is used for testing

Team Name Given path Time Test path
Time
notes
Carpago Success 3:07 RRT Fail   Seg fault or infinite loop
 GodTeam Success 3:53 Fail(1/3)   collision (path penetrates wall)
SuperEasy Success 4:43   Sucess  5:37  
Intelligent baduk  Success 1:46  RRT Fail    Seg fault 
Imposter  Success 4:22 Success 6:25   
InvictusBot  Fail(0/2)   RRT Fail  

collision,
memory error (core dumped)

Averagers  Fail(1/2)   RRT Fail   Given Path : Failed to follow path, Test Path : Seg fault
Model_Z  Success 2:21 Success 3:04  

 

 

Project1 (due: 10/14, 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
Carpago Success 1:14 Success 1:45
 GodTeam Success 0:45 Fail(6/9)  
SuperEasy Success 00:45 Fail(6/9)  
Intelligent baduk Success 00:25 Fail(2/9)  
Imposter Success  4:44 Success 6:08
InvictusBot Success  0:50 Fail(7/9)  
Averagers Success  1:23 Success 1:33
Model_Z Success 00:55 Success  1:41

 

 

Teams


  Team Name Member 1 Member 2 Member 3
1 Carpago Bae Byeong Hee LEE GUNJUN LEE HYUN IN
2  GodTeam KANG BYUNGGU KIM KYUNGJUNE SON CHANGDAE
3 SuperEasy Heo Jae Seok KIM KIHOON  
4 Intelligent baduk KIM JIN GUK Yang Jae Hun  Lee HeeJun
5 Imposter KIM GYU RI JEONG JAEYEON KANG TAEHUN
6 InvictusBot LEWONCZUK LOUISE JULIENNE KIM JIN SOL WANG JIAYUE
7 Averagers SOHN JONG HO LEE TAEWON KIM JIN HYUNG
8 Model_Z KIM MINJAE RYOO SEUNG CHAN lee su min