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Repository Summary
| Checkout URI | https://github.com/tinker-twins/autonomy-science-and-systems.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-01-29 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
README
Autonomy: Science and Systems @ CU-ICAR
This repository is a part of course AuE-8230 “Autonomy: Science and Systems” at CU-ICAR (Spring 2023).
Course Description:
AuE-8230: Autonomy: Science and Systems, as the name suggests, introduces students to scientific (formulations) as well as technological (ROS-based implementation) advances in the field of autonomous systems. This course is handled by Dr. Venkat Krovi, Michelin Endowed SmartState Chair Professor of Vehicle Automation at Clemson University International Center for Automotive Research (CU-ICAR) and director of Automation, Robotics and Mechatronics Laboratory (ARMLab).
Group Name:
Tinker Twins: Chinmay Samak and Tanmay Samak are twin brothers, who use “Tinker Twins” as a personal brand (the team’s name was therefore decided to reflect the same brand). The twins have come a long way tinkering with various tools and technologies, which has strengthened their scientific knowledge and skills. The duo has worked on various projects ranging from microelectromechanical systems (MEMS) to in-orbit space settlements, and almost everything in between. They have a particularly keen interest in the field of robotics and autonomous systems, and are specializing in the field of autonomous vehicles.
Group Members:
Chinmay Samak: I received the B.Tech. degree in Mechatronics Engineering with a gold medal from SRM Institute of Science and Technology in 2021. Having worked on several research projects in the field of autonomous vehicles, complemented with a solid background in mechatronics engineering, I have joined ARMLab at CU-ICAR as a direct Ph.D. candidate under the supervision of Dr. Venkat Krovi to pursue focused research in the field of vehicle automation. My research interests lie at the intersection of real and virtual worlds to create physically and graphically accurate digital twins. I am currently contributing towards projects such as VIPR-GS, OpenCAV, AutoDRIVE and F1Tenth.
Tanmay Samak: I received the B.Tech. degree in Mechatronics Engineering with a silver medal from SRM Institute of Science and Technology in 2021. Having worked on several research projects in the field of autonomous vehicles, complemented with a solid background in mechatronics engineering, I have joined ARMLab at CU-ICAR as a direct Ph.D. candidate under the supervision of Dr. Venkat Krovi to pursue focused research in the field of vehicle automation. My research interests lie in formulation and development of socially and situationally aware autonomous systems. I am currently contributing towards projects such as VIPR-GS, OpenCAV, AutoDRIVE and F1Tenth.
Repository Structure
The following collapsible sections highlight the high-level outcomes of each task. Furthermore, dedicated directory for each of the milestones has a detailed README.md of its own.
Assignment 1-A</a>: Comparative study of ROS-1, ROS-2 and ROS-I</summary>
</details>
Mini Assignment 1</a>: Picture-proofs of ROS-1 Noetic, ROS-2 Foxy installations</summary>
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| ROS-1 Noetic Installation | ROS-2 Foxy Installation |
</details>
Mini Assignment 2</a>: Video-proofs of ROS-1 Noetic, ROS-2 Foxy installations</summary>
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| ROS-1 Noetic Installation | ROS-2 Foxy Installation |
</details>
Assignment 1-B</a>: Robot open and closed-loop control in TurtleSim</summary>
|  |  |
|:------------------:|:-------------------:|
| Go in Circle | Go to Goal |
|  |  |
| Open Loop Square | Closed Loop Square |
</details>
Group</a>: Group details for the course during Spring 2023</summary>
**Chinmay Samak:** I received the [B.Tech. degree in Mechatronics Engineering](https://www.srmist.edu.in/program/b-tech-mechatronics-engineering/) with a gold medal from [SRM Institute of Science and Technology](https://www.srmist.edu.in/) in 2021. Having worked on several research projects in the field of autonomous vehicles, complemented with a solid background in mechatronics engineering, I have joined [ARMLab at CU-ICAR](http://cecas.clemson.edu/armlab-cuicar) as a direct Ph.D. candidate under the supervision of [Dr. Venkat Krovi](https://www.linkedin.com/in/venkatnkrovi) to pursue focused research in the field of vehicle automation. My research interests lie at the intersection of real and virtual worlds to create physically and graphically accurate digital twins. I am currently contributing towards projects such as [VIPR-GS](https://cecas.clemson.edu/VIPR-GS/), [OpenCAV](https://sites.google.com/view/opencav/), [AutoDRIVE](https://autodrive-ecosystem.github.io/) and [F1Tenth](https://f1tenth.org/).
**Tanmay Samak:** I received the [B.Tech. degree in Mechatronics Engineering](https://www.srmist.edu.in/program/b-tech-mechatronics-engineering/) with a silver medal from [SRM Institute of Science and Technology](https://www.srmist.edu.in/) in 2021. Having worked on several research projects in the field of autonomous vehicles, complemented with a solid background in mechatronics engineering, I have joined [ARMLab at CU-ICAR](http://cecas.clemson.edu/armlab-cuicar) as a direct Ph.D. candidate under the supervision of [Dr. Venkat Krovi](https://www.linkedin.com/in/venkatnkrovi) to pursue focused research in the field of vehicle automation. My research interests lie in formulation and development of socially and situationally aware autonomous systems. I am currently contributing towards projects such as [VIPR-GS](https://cecas.clemson.edu/VIPR-GS/), [OpenCAV](https://sites.google.com/view/opencav/), [AutoDRIVE](https://autodrive-ecosystem.github.io/) and [F1Tenth](https://f1tenth.org/).
</details>
Assignment 1-C</a>: TurtleBot3 open-loop control in Gazebo simulator</summary>
1. Open-Loop Circle:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.25, `ang_vel` = 0.25) | Medium (`lin_vel` = 0.50, `ang_vel` = 0.50) | Fast (`lin_vel` = 0.75, `ang_vel` = 0.75) |
2. Open-Loop Square:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.25, `ang_vel` = 0.25) | Medium (`lin_vel` = 0.50, `ang_vel` = 0.50) | Fast (`lin_vel` = 0.75, `ang_vel` = 0.75) |
</details>
Mini Assignment 3</a>: Acknowledgement of TurtleBot3 Burger robot and auxiliary components reception</summary>
</details>
Assignment 2-A</a>: TurtleBot3 Burger teardown</summary>
</details>
Assignment 2-B</a>: TurtleBot3 open-loop control in reality</summary>
1. Teleoperation:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Physical TurtleBot3 Burger | Remote PC Terminal Window |
2. Open-Loop Circle:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
3. Open-Loop Square:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
</details>
Assignment 3-A</a>: TurtleBot3 emergency braking, wall following & obstacle avoidance in simulation & reality</summary>
1. Simulation:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Emergency Braking | Wall Following | Obstacle Avoidance |
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Collision Avoidance - TurtleBot3 | Collision Avoidance - Remote PC |
</details>
Mini Assignment 4</a>: Intrinsic and extrensic calibration of Arducam BO196 on TurtleBot3 Burger </summary>
</details>
Assignment 3-B</a>: TurtleBot3 vision processing, tracking & following in simulation & reality</summary>
1. Simulation:
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Lane Following - TurtleBot3 | Lane Following - Remote PC |
|  |  |
| AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Capstone Project</a>: TurtleBot3 autonomous navigation (gymkhana challenge) in simulation & reality</summary>
1. Simulation:
2. Real-World:
3. Robustness Testing:
|  |  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|:-----------------------------------:|
| Simulation: Forward Direction; Start at Wall Following | Simulation: Forward Direction; Start at Line Following | Simulation: Forward Direction; Start at AprilTag Tracking | Simulation: Inverse Direction; Start at Line Following |
|  |  |  |  |
| Real-World: Forward Direction; Day; Start at Wall Following | Real-World: Forward Direction; Night; Start at Line Following | Real-World: Forward Direction; Night; Start at AprilTag Tracking | Real-World: Inverse Direction; Night; Start at Line Following |
4. Individual Tasks:
|  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|
| Wall Following - Simulation | Wall Following - TurtleBot3 | Wall Following - Remote PC |
|  |  |  |
| Obstacle Avoidance - Simulation | Obstacle Avoidance - TurtleBot3 | Obstacle Avoidance - Remote PC |
|  |  |  |
| Line Following - Simulation | Line Following - TurtleBot3 | Line Following - Remote PC |
|  |  |  |
| Stop Sign Detection - Simulation | Stop Sign Detection - TurtleBot3 | Stop Sign Detection - Remote PC |
|  |  |  |
| AprilTag Tracking - Simulation | AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Mini Assignment 1</a>: Picture-proofs of ROS-1 Noetic, ROS-2 Foxy installations</summary>
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| ROS-1 Noetic Installation | ROS-2 Foxy Installation |
</details>
Mini Assignment 2</a>: Video-proofs of ROS-1 Noetic, ROS-2 Foxy installations</summary>
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| ROS-1 Noetic Installation | ROS-2 Foxy Installation |
</details>
Assignment 1-B</a>: Robot open and closed-loop control in TurtleSim</summary>
|  |  |
|:------------------:|:-------------------:|
| Go in Circle | Go to Goal |
|  |  |
| Open Loop Square | Closed Loop Square |
</details>
Group</a>: Group details for the course during Spring 2023</summary>
**Chinmay Samak:** I received the [B.Tech. degree in Mechatronics Engineering](https://www.srmist.edu.in/program/b-tech-mechatronics-engineering/) with a gold medal from [SRM Institute of Science and Technology](https://www.srmist.edu.in/) in 2021. Having worked on several research projects in the field of autonomous vehicles, complemented with a solid background in mechatronics engineering, I have joined [ARMLab at CU-ICAR](http://cecas.clemson.edu/armlab-cuicar) as a direct Ph.D. candidate under the supervision of [Dr. Venkat Krovi](https://www.linkedin.com/in/venkatnkrovi) to pursue focused research in the field of vehicle automation. My research interests lie at the intersection of real and virtual worlds to create physically and graphically accurate digital twins. I am currently contributing towards projects such as [VIPR-GS](https://cecas.clemson.edu/VIPR-GS/), [OpenCAV](https://sites.google.com/view/opencav/), [AutoDRIVE](https://autodrive-ecosystem.github.io/) and [F1Tenth](https://f1tenth.org/).
**Tanmay Samak:** I received the [B.Tech. degree in Mechatronics Engineering](https://www.srmist.edu.in/program/b-tech-mechatronics-engineering/) with a silver medal from [SRM Institute of Science and Technology](https://www.srmist.edu.in/) in 2021. Having worked on several research projects in the field of autonomous vehicles, complemented with a solid background in mechatronics engineering, I have joined [ARMLab at CU-ICAR](http://cecas.clemson.edu/armlab-cuicar) as a direct Ph.D. candidate under the supervision of [Dr. Venkat Krovi](https://www.linkedin.com/in/venkatnkrovi) to pursue focused research in the field of vehicle automation. My research interests lie in formulation and development of socially and situationally aware autonomous systems. I am currently contributing towards projects such as [VIPR-GS](https://cecas.clemson.edu/VIPR-GS/), [OpenCAV](https://sites.google.com/view/opencav/), [AutoDRIVE](https://autodrive-ecosystem.github.io/) and [F1Tenth](https://f1tenth.org/).
</details>
Assignment 1-C</a>: TurtleBot3 open-loop control in Gazebo simulator</summary>
1. Open-Loop Circle:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.25, `ang_vel` = 0.25) | Medium (`lin_vel` = 0.50, `ang_vel` = 0.50) | Fast (`lin_vel` = 0.75, `ang_vel` = 0.75) |
2. Open-Loop Square:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.25, `ang_vel` = 0.25) | Medium (`lin_vel` = 0.50, `ang_vel` = 0.50) | Fast (`lin_vel` = 0.75, `ang_vel` = 0.75) |
</details>
Mini Assignment 3</a>: Acknowledgement of TurtleBot3 Burger robot and auxiliary components reception</summary>
</details>
Assignment 2-A</a>: TurtleBot3 Burger teardown</summary>
</details>
Assignment 2-B</a>: TurtleBot3 open-loop control in reality</summary>
1. Teleoperation:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Physical TurtleBot3 Burger | Remote PC Terminal Window |
2. Open-Loop Circle:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
3. Open-Loop Square:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
</details>
Assignment 3-A</a>: TurtleBot3 emergency braking, wall following & obstacle avoidance in simulation & reality</summary>
1. Simulation:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Emergency Braking | Wall Following | Obstacle Avoidance |
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Collision Avoidance - TurtleBot3 | Collision Avoidance - Remote PC |
</details>
Mini Assignment 4</a>: Intrinsic and extrensic calibration of Arducam BO196 on TurtleBot3 Burger </summary>
</details>
Assignment 3-B</a>: TurtleBot3 vision processing, tracking & following in simulation & reality</summary>
1. Simulation:
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Lane Following - TurtleBot3 | Lane Following - Remote PC |
|  |  |
| AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Capstone Project</a>: TurtleBot3 autonomous navigation (gymkhana challenge) in simulation & reality</summary>
1. Simulation:
2. Real-World:
3. Robustness Testing:
|  |  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|:-----------------------------------:|
| Simulation: Forward Direction; Start at Wall Following | Simulation: Forward Direction; Start at Line Following | Simulation: Forward Direction; Start at AprilTag Tracking | Simulation: Inverse Direction; Start at Line Following |
|  |  |  |  |
| Real-World: Forward Direction; Day; Start at Wall Following | Real-World: Forward Direction; Night; Start at Line Following | Real-World: Forward Direction; Night; Start at AprilTag Tracking | Real-World: Inverse Direction; Night; Start at Line Following |
4. Individual Tasks:
|  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|
| Wall Following - Simulation | Wall Following - TurtleBot3 | Wall Following - Remote PC |
|  |  |  |
| Obstacle Avoidance - Simulation | Obstacle Avoidance - TurtleBot3 | Obstacle Avoidance - Remote PC |
|  |  |  |
| Line Following - Simulation | Line Following - TurtleBot3 | Line Following - Remote PC |
|  |  |  |
| Stop Sign Detection - Simulation | Stop Sign Detection - TurtleBot3 | Stop Sign Detection - Remote PC |
|  |  |  |
| AprilTag Tracking - Simulation | AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Mini Assignment 2</a>: Video-proofs of ROS-1 Noetic, ROS-2 Foxy installations</summary>
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| ROS-1 Noetic Installation | ROS-2 Foxy Installation |
</details>
Assignment 1-B</a>: Robot open and closed-loop control in TurtleSim</summary>
|  |  |
|:------------------:|:-------------------:|
| Go in Circle | Go to Goal |
|  |  |
| Open Loop Square | Closed Loop Square |
</details>
Group</a>: Group details for the course during Spring 2023</summary>
**Chinmay Samak:** I received the [B.Tech. degree in Mechatronics Engineering](https://www.srmist.edu.in/program/b-tech-mechatronics-engineering/) with a gold medal from [SRM Institute of Science and Technology](https://www.srmist.edu.in/) in 2021. Having worked on several research projects in the field of autonomous vehicles, complemented with a solid background in mechatronics engineering, I have joined [ARMLab at CU-ICAR](http://cecas.clemson.edu/armlab-cuicar) as a direct Ph.D. candidate under the supervision of [Dr. Venkat Krovi](https://www.linkedin.com/in/venkatnkrovi) to pursue focused research in the field of vehicle automation. My research interests lie at the intersection of real and virtual worlds to create physically and graphically accurate digital twins. I am currently contributing towards projects such as [VIPR-GS](https://cecas.clemson.edu/VIPR-GS/), [OpenCAV](https://sites.google.com/view/opencav/), [AutoDRIVE](https://autodrive-ecosystem.github.io/) and [F1Tenth](https://f1tenth.org/).
**Tanmay Samak:** I received the [B.Tech. degree in Mechatronics Engineering](https://www.srmist.edu.in/program/b-tech-mechatronics-engineering/) with a silver medal from [SRM Institute of Science and Technology](https://www.srmist.edu.in/) in 2021. Having worked on several research projects in the field of autonomous vehicles, complemented with a solid background in mechatronics engineering, I have joined [ARMLab at CU-ICAR](http://cecas.clemson.edu/armlab-cuicar) as a direct Ph.D. candidate under the supervision of [Dr. Venkat Krovi](https://www.linkedin.com/in/venkatnkrovi) to pursue focused research in the field of vehicle automation. My research interests lie in formulation and development of socially and situationally aware autonomous systems. I am currently contributing towards projects such as [VIPR-GS](https://cecas.clemson.edu/VIPR-GS/), [OpenCAV](https://sites.google.com/view/opencav/), [AutoDRIVE](https://autodrive-ecosystem.github.io/) and [F1Tenth](https://f1tenth.org/).
</details>
Assignment 1-C</a>: TurtleBot3 open-loop control in Gazebo simulator</summary>
1. Open-Loop Circle:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.25, `ang_vel` = 0.25) | Medium (`lin_vel` = 0.50, `ang_vel` = 0.50) | Fast (`lin_vel` = 0.75, `ang_vel` = 0.75) |
2. Open-Loop Square:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.25, `ang_vel` = 0.25) | Medium (`lin_vel` = 0.50, `ang_vel` = 0.50) | Fast (`lin_vel` = 0.75, `ang_vel` = 0.75) |
</details>
Mini Assignment 3</a>: Acknowledgement of TurtleBot3 Burger robot and auxiliary components reception</summary>
</details>
Assignment 2-A</a>: TurtleBot3 Burger teardown</summary>
</details>
Assignment 2-B</a>: TurtleBot3 open-loop control in reality</summary>
1. Teleoperation:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Physical TurtleBot3 Burger | Remote PC Terminal Window |
2. Open-Loop Circle:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
3. Open-Loop Square:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
</details>
Assignment 3-A</a>: TurtleBot3 emergency braking, wall following & obstacle avoidance in simulation & reality</summary>
1. Simulation:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Emergency Braking | Wall Following | Obstacle Avoidance |
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Collision Avoidance - TurtleBot3 | Collision Avoidance - Remote PC |
</details>
Mini Assignment 4</a>: Intrinsic and extrensic calibration of Arducam BO196 on TurtleBot3 Burger </summary>
</details>
Assignment 3-B</a>: TurtleBot3 vision processing, tracking & following in simulation & reality</summary>
1. Simulation:
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Lane Following - TurtleBot3 | Lane Following - Remote PC |
|  |  |
| AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Capstone Project</a>: TurtleBot3 autonomous navigation (gymkhana challenge) in simulation & reality</summary>
1. Simulation:
2. Real-World:
3. Robustness Testing:
|  |  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|:-----------------------------------:|
| Simulation: Forward Direction; Start at Wall Following | Simulation: Forward Direction; Start at Line Following | Simulation: Forward Direction; Start at AprilTag Tracking | Simulation: Inverse Direction; Start at Line Following |
|  |  |  |  |
| Real-World: Forward Direction; Day; Start at Wall Following | Real-World: Forward Direction; Night; Start at Line Following | Real-World: Forward Direction; Night; Start at AprilTag Tracking | Real-World: Inverse Direction; Night; Start at Line Following |
4. Individual Tasks:
|  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|
| Wall Following - Simulation | Wall Following - TurtleBot3 | Wall Following - Remote PC |
|  |  |  |
| Obstacle Avoidance - Simulation | Obstacle Avoidance - TurtleBot3 | Obstacle Avoidance - Remote PC |
|  |  |  |
| Line Following - Simulation | Line Following - TurtleBot3 | Line Following - Remote PC |
|  |  |  |
| Stop Sign Detection - Simulation | Stop Sign Detection - TurtleBot3 | Stop Sign Detection - Remote PC |
|  |  |  |
| AprilTag Tracking - Simulation | AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Assignment 1-B</a>: Robot open and closed-loop control in TurtleSim</summary>
|  |  |
|:------------------:|:-------------------:|
| Go in Circle | Go to Goal |
|  |  |
| Open Loop Square | Closed Loop Square |
</details>
Group</a>: Group details for the course during Spring 2023</summary>
**Chinmay Samak:** I received the [B.Tech. degree in Mechatronics Engineering](https://www.srmist.edu.in/program/b-tech-mechatronics-engineering/) with a gold medal from [SRM Institute of Science and Technology](https://www.srmist.edu.in/) in 2021. Having worked on several research projects in the field of autonomous vehicles, complemented with a solid background in mechatronics engineering, I have joined [ARMLab at CU-ICAR](http://cecas.clemson.edu/armlab-cuicar) as a direct Ph.D. candidate under the supervision of [Dr. Venkat Krovi](https://www.linkedin.com/in/venkatnkrovi) to pursue focused research in the field of vehicle automation. My research interests lie at the intersection of real and virtual worlds to create physically and graphically accurate digital twins. I am currently contributing towards projects such as [VIPR-GS](https://cecas.clemson.edu/VIPR-GS/), [OpenCAV](https://sites.google.com/view/opencav/), [AutoDRIVE](https://autodrive-ecosystem.github.io/) and [F1Tenth](https://f1tenth.org/).
**Tanmay Samak:** I received the [B.Tech. degree in Mechatronics Engineering](https://www.srmist.edu.in/program/b-tech-mechatronics-engineering/) with a silver medal from [SRM Institute of Science and Technology](https://www.srmist.edu.in/) in 2021. Having worked on several research projects in the field of autonomous vehicles, complemented with a solid background in mechatronics engineering, I have joined [ARMLab at CU-ICAR](http://cecas.clemson.edu/armlab-cuicar) as a direct Ph.D. candidate under the supervision of [Dr. Venkat Krovi](https://www.linkedin.com/in/venkatnkrovi) to pursue focused research in the field of vehicle automation. My research interests lie in formulation and development of socially and situationally aware autonomous systems. I am currently contributing towards projects such as [VIPR-GS](https://cecas.clemson.edu/VIPR-GS/), [OpenCAV](https://sites.google.com/view/opencav/), [AutoDRIVE](https://autodrive-ecosystem.github.io/) and [F1Tenth](https://f1tenth.org/).
</details>
Assignment 1-C</a>: TurtleBot3 open-loop control in Gazebo simulator</summary>
1. Open-Loop Circle:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.25, `ang_vel` = 0.25) | Medium (`lin_vel` = 0.50, `ang_vel` = 0.50) | Fast (`lin_vel` = 0.75, `ang_vel` = 0.75) |
2. Open-Loop Square:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.25, `ang_vel` = 0.25) | Medium (`lin_vel` = 0.50, `ang_vel` = 0.50) | Fast (`lin_vel` = 0.75, `ang_vel` = 0.75) |
</details>
Mini Assignment 3</a>: Acknowledgement of TurtleBot3 Burger robot and auxiliary components reception</summary>
</details>
Assignment 2-A</a>: TurtleBot3 Burger teardown</summary>
</details>
Assignment 2-B</a>: TurtleBot3 open-loop control in reality</summary>
1. Teleoperation:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Physical TurtleBot3 Burger | Remote PC Terminal Window |
2. Open-Loop Circle:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
3. Open-Loop Square:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
</details>
Assignment 3-A</a>: TurtleBot3 emergency braking, wall following & obstacle avoidance in simulation & reality</summary>
1. Simulation:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Emergency Braking | Wall Following | Obstacle Avoidance |
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Collision Avoidance - TurtleBot3 | Collision Avoidance - Remote PC |
</details>
Mini Assignment 4</a>: Intrinsic and extrensic calibration of Arducam BO196 on TurtleBot3 Burger </summary>
</details>
Assignment 3-B</a>: TurtleBot3 vision processing, tracking & following in simulation & reality</summary>
1. Simulation:
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Lane Following - TurtleBot3 | Lane Following - Remote PC |
|  |  |
| AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Capstone Project</a>: TurtleBot3 autonomous navigation (gymkhana challenge) in simulation & reality</summary>
1. Simulation:
2. Real-World:
3. Robustness Testing:
|  |  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|:-----------------------------------:|
| Simulation: Forward Direction; Start at Wall Following | Simulation: Forward Direction; Start at Line Following | Simulation: Forward Direction; Start at AprilTag Tracking | Simulation: Inverse Direction; Start at Line Following |
|  |  |  |  |
| Real-World: Forward Direction; Day; Start at Wall Following | Real-World: Forward Direction; Night; Start at Line Following | Real-World: Forward Direction; Night; Start at AprilTag Tracking | Real-World: Inverse Direction; Night; Start at Line Following |
4. Individual Tasks:
|  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|
| Wall Following - Simulation | Wall Following - TurtleBot3 | Wall Following - Remote PC |
|  |  |  |
| Obstacle Avoidance - Simulation | Obstacle Avoidance - TurtleBot3 | Obstacle Avoidance - Remote PC |
|  |  |  |
| Line Following - Simulation | Line Following - TurtleBot3 | Line Following - Remote PC |
|  |  |  |
| Stop Sign Detection - Simulation | Stop Sign Detection - TurtleBot3 | Stop Sign Detection - Remote PC |
|  |  |  |
| AprilTag Tracking - Simulation | AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Group</a>: Group details for the course during Spring 2023</summary>
**Chinmay Samak:** I received the [B.Tech. degree in Mechatronics Engineering](https://www.srmist.edu.in/program/b-tech-mechatronics-engineering/) with a gold medal from [SRM Institute of Science and Technology](https://www.srmist.edu.in/) in 2021. Having worked on several research projects in the field of autonomous vehicles, complemented with a solid background in mechatronics engineering, I have joined [ARMLab at CU-ICAR](http://cecas.clemson.edu/armlab-cuicar) as a direct Ph.D. candidate under the supervision of [Dr. Venkat Krovi](https://www.linkedin.com/in/venkatnkrovi) to pursue focused research in the field of vehicle automation. My research interests lie at the intersection of real and virtual worlds to create physically and graphically accurate digital twins. I am currently contributing towards projects such as [VIPR-GS](https://cecas.clemson.edu/VIPR-GS/), [OpenCAV](https://sites.google.com/view/opencav/), [AutoDRIVE](https://autodrive-ecosystem.github.io/) and [F1Tenth](https://f1tenth.org/).
**Tanmay Samak:** I received the [B.Tech. degree in Mechatronics Engineering](https://www.srmist.edu.in/program/b-tech-mechatronics-engineering/) with a silver medal from [SRM Institute of Science and Technology](https://www.srmist.edu.in/) in 2021. Having worked on several research projects in the field of autonomous vehicles, complemented with a solid background in mechatronics engineering, I have joined [ARMLab at CU-ICAR](http://cecas.clemson.edu/armlab-cuicar) as a direct Ph.D. candidate under the supervision of [Dr. Venkat Krovi](https://www.linkedin.com/in/venkatnkrovi) to pursue focused research in the field of vehicle automation. My research interests lie in formulation and development of socially and situationally aware autonomous systems. I am currently contributing towards projects such as [VIPR-GS](https://cecas.clemson.edu/VIPR-GS/), [OpenCAV](https://sites.google.com/view/opencav/), [AutoDRIVE](https://autodrive-ecosystem.github.io/) and [F1Tenth](https://f1tenth.org/).
</details>
Assignment 1-C</a>: TurtleBot3 open-loop control in Gazebo simulator</summary>
1. Open-Loop Circle:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.25, `ang_vel` = 0.25) | Medium (`lin_vel` = 0.50, `ang_vel` = 0.50) | Fast (`lin_vel` = 0.75, `ang_vel` = 0.75) |
2. Open-Loop Square:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.25, `ang_vel` = 0.25) | Medium (`lin_vel` = 0.50, `ang_vel` = 0.50) | Fast (`lin_vel` = 0.75, `ang_vel` = 0.75) |
</details>
Mini Assignment 3</a>: Acknowledgement of TurtleBot3 Burger robot and auxiliary components reception</summary>
</details>
Assignment 2-A</a>: TurtleBot3 Burger teardown</summary>
</details>
Assignment 2-B</a>: TurtleBot3 open-loop control in reality</summary>
1. Teleoperation:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Physical TurtleBot3 Burger | Remote PC Terminal Window |
2. Open-Loop Circle:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
3. Open-Loop Square:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
</details>
Assignment 3-A</a>: TurtleBot3 emergency braking, wall following & obstacle avoidance in simulation & reality</summary>
1. Simulation:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Emergency Braking | Wall Following | Obstacle Avoidance |
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Collision Avoidance - TurtleBot3 | Collision Avoidance - Remote PC |
</details>
Mini Assignment 4</a>: Intrinsic and extrensic calibration of Arducam BO196 on TurtleBot3 Burger </summary>
</details>
Assignment 3-B</a>: TurtleBot3 vision processing, tracking & following in simulation & reality</summary>
1. Simulation:
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Lane Following - TurtleBot3 | Lane Following - Remote PC |
|  |  |
| AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Capstone Project</a>: TurtleBot3 autonomous navigation (gymkhana challenge) in simulation & reality</summary>
1. Simulation:
2. Real-World:
3. Robustness Testing:
|  |  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|:-----------------------------------:|
| Simulation: Forward Direction; Start at Wall Following | Simulation: Forward Direction; Start at Line Following | Simulation: Forward Direction; Start at AprilTag Tracking | Simulation: Inverse Direction; Start at Line Following |
|  |  |  |  |
| Real-World: Forward Direction; Day; Start at Wall Following | Real-World: Forward Direction; Night; Start at Line Following | Real-World: Forward Direction; Night; Start at AprilTag Tracking | Real-World: Inverse Direction; Night; Start at Line Following |
4. Individual Tasks:
|  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|
| Wall Following - Simulation | Wall Following - TurtleBot3 | Wall Following - Remote PC |
|  |  |  |
| Obstacle Avoidance - Simulation | Obstacle Avoidance - TurtleBot3 | Obstacle Avoidance - Remote PC |
|  |  |  |
| Line Following - Simulation | Line Following - TurtleBot3 | Line Following - Remote PC |
|  |  |  |
| Stop Sign Detection - Simulation | Stop Sign Detection - TurtleBot3 | Stop Sign Detection - Remote PC |
|  |  |  |
| AprilTag Tracking - Simulation | AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
**Chinmay Samak:** I received the [B.Tech. degree in Mechatronics Engineering](https://www.srmist.edu.in/program/b-tech-mechatronics-engineering/) with a gold medal from [SRM Institute of Science and Technology](https://www.srmist.edu.in/) in 2021. Having worked on several research projects in the field of autonomous vehicles, complemented with a solid background in mechatronics engineering, I have joined [ARMLab at CU-ICAR](http://cecas.clemson.edu/armlab-cuicar) as a direct Ph.D. candidate under the supervision of [Dr. Venkat Krovi](https://www.linkedin.com/in/venkatnkrovi) to pursue focused research in the field of vehicle automation. My research interests lie at the intersection of real and virtual worlds to create physically and graphically accurate digital twins. I am currently contributing towards projects such as [VIPR-GS](https://cecas.clemson.edu/VIPR-GS/), [OpenCAV](https://sites.google.com/view/opencav/), [AutoDRIVE](https://autodrive-ecosystem.github.io/) and [F1Tenth](https://f1tenth.org/).
**Tanmay Samak:** I received the [B.Tech. degree in Mechatronics Engineering](https://www.srmist.edu.in/program/b-tech-mechatronics-engineering/) with a silver medal from [SRM Institute of Science and Technology](https://www.srmist.edu.in/) in 2021. Having worked on several research projects in the field of autonomous vehicles, complemented with a solid background in mechatronics engineering, I have joined [ARMLab at CU-ICAR](http://cecas.clemson.edu/armlab-cuicar) as a direct Ph.D. candidate under the supervision of [Dr. Venkat Krovi](https://www.linkedin.com/in/venkatnkrovi) to pursue focused research in the field of vehicle automation. My research interests lie in formulation and development of socially and situationally aware autonomous systems. I am currently contributing towards projects such as [VIPR-GS](https://cecas.clemson.edu/VIPR-GS/), [OpenCAV](https://sites.google.com/view/opencav/), [AutoDRIVE](https://autodrive-ecosystem.github.io/) and [F1Tenth](https://f1tenth.org/).
Assignment 1-C</a>: TurtleBot3 open-loop control in Gazebo simulator</summary>
1. Open-Loop Circle:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.25, `ang_vel` = 0.25) | Medium (`lin_vel` = 0.50, `ang_vel` = 0.50) | Fast (`lin_vel` = 0.75, `ang_vel` = 0.75) |
2. Open-Loop Square:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.25, `ang_vel` = 0.25) | Medium (`lin_vel` = 0.50, `ang_vel` = 0.50) | Fast (`lin_vel` = 0.75, `ang_vel` = 0.75) |
</details>
Mini Assignment 3</a>: Acknowledgement of TurtleBot3 Burger robot and auxiliary components reception</summary>
</details>
Assignment 2-A</a>: TurtleBot3 Burger teardown</summary>
</details>
Assignment 2-B</a>: TurtleBot3 open-loop control in reality</summary>
1. Teleoperation:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Physical TurtleBot3 Burger | Remote PC Terminal Window |
2. Open-Loop Circle:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
3. Open-Loop Square:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
</details>
Assignment 3-A</a>: TurtleBot3 emergency braking, wall following & obstacle avoidance in simulation & reality</summary>
1. Simulation:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Emergency Braking | Wall Following | Obstacle Avoidance |
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Collision Avoidance - TurtleBot3 | Collision Avoidance - Remote PC |
</details>
Mini Assignment 4</a>: Intrinsic and extrensic calibration of Arducam BO196 on TurtleBot3 Burger </summary>
</details>
Assignment 3-B</a>: TurtleBot3 vision processing, tracking & following in simulation & reality</summary>
1. Simulation:
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Lane Following - TurtleBot3 | Lane Following - Remote PC |
|  |  |
| AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Capstone Project</a>: TurtleBot3 autonomous navigation (gymkhana challenge) in simulation & reality</summary>
1. Simulation:
2. Real-World:
3. Robustness Testing:
|  |  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|:-----------------------------------:|
| Simulation: Forward Direction; Start at Wall Following | Simulation: Forward Direction; Start at Line Following | Simulation: Forward Direction; Start at AprilTag Tracking | Simulation: Inverse Direction; Start at Line Following |
|  |  |  |  |
| Real-World: Forward Direction; Day; Start at Wall Following | Real-World: Forward Direction; Night; Start at Line Following | Real-World: Forward Direction; Night; Start at AprilTag Tracking | Real-World: Inverse Direction; Night; Start at Line Following |
4. Individual Tasks:
|  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|
| Wall Following - Simulation | Wall Following - TurtleBot3 | Wall Following - Remote PC |
|  |  |  |
| Obstacle Avoidance - Simulation | Obstacle Avoidance - TurtleBot3 | Obstacle Avoidance - Remote PC |
|  |  |  |
| Line Following - Simulation | Line Following - TurtleBot3 | Line Following - Remote PC |
|  |  |  |
| Stop Sign Detection - Simulation | Stop Sign Detection - TurtleBot3 | Stop Sign Detection - Remote PC |
|  |  |  |
| AprilTag Tracking - Simulation | AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Mini Assignment 3</a>: Acknowledgement of TurtleBot3 Burger robot and auxiliary components reception</summary>
</details>
Assignment 2-A</a>: TurtleBot3 Burger teardown</summary>
</details>
Assignment 2-B</a>: TurtleBot3 open-loop control in reality</summary>
1. Teleoperation:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Physical TurtleBot3 Burger | Remote PC Terminal Window |
2. Open-Loop Circle:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
3. Open-Loop Square:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
</details>
Assignment 3-A</a>: TurtleBot3 emergency braking, wall following & obstacle avoidance in simulation & reality</summary>
1. Simulation:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Emergency Braking | Wall Following | Obstacle Avoidance |
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Collision Avoidance - TurtleBot3 | Collision Avoidance - Remote PC |
</details>
Mini Assignment 4</a>: Intrinsic and extrensic calibration of Arducam BO196 on TurtleBot3 Burger </summary>
</details>
Assignment 3-B</a>: TurtleBot3 vision processing, tracking & following in simulation & reality</summary>
1. Simulation:
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Lane Following - TurtleBot3 | Lane Following - Remote PC |
|  |  |
| AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Capstone Project</a>: TurtleBot3 autonomous navigation (gymkhana challenge) in simulation & reality</summary>
1. Simulation:
2. Real-World:
3. Robustness Testing:
|  |  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|:-----------------------------------:|
| Simulation: Forward Direction; Start at Wall Following | Simulation: Forward Direction; Start at Line Following | Simulation: Forward Direction; Start at AprilTag Tracking | Simulation: Inverse Direction; Start at Line Following |
|  |  |  |  |
| Real-World: Forward Direction; Day; Start at Wall Following | Real-World: Forward Direction; Night; Start at Line Following | Real-World: Forward Direction; Night; Start at AprilTag Tracking | Real-World: Inverse Direction; Night; Start at Line Following |
4. Individual Tasks:
|  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|
| Wall Following - Simulation | Wall Following - TurtleBot3 | Wall Following - Remote PC |
|  |  |  |
| Obstacle Avoidance - Simulation | Obstacle Avoidance - TurtleBot3 | Obstacle Avoidance - Remote PC |
|  |  |  |
| Line Following - Simulation | Line Following - TurtleBot3 | Line Following - Remote PC |
|  |  |  |
| Stop Sign Detection - Simulation | Stop Sign Detection - TurtleBot3 | Stop Sign Detection - Remote PC |
|  |  |  |
| AprilTag Tracking - Simulation | AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Assignment 2-A</a>: TurtleBot3 Burger teardown</summary>
</details>
Assignment 2-B</a>: TurtleBot3 open-loop control in reality</summary>
1. Teleoperation:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Physical TurtleBot3 Burger | Remote PC Terminal Window |
2. Open-Loop Circle:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
3. Open-Loop Square:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
</details>
Assignment 3-A</a>: TurtleBot3 emergency braking, wall following & obstacle avoidance in simulation & reality</summary>
1. Simulation:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Emergency Braking | Wall Following | Obstacle Avoidance |
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Collision Avoidance - TurtleBot3 | Collision Avoidance - Remote PC |
</details>
Mini Assignment 4</a>: Intrinsic and extrensic calibration of Arducam BO196 on TurtleBot3 Burger </summary>
</details>
Assignment 3-B</a>: TurtleBot3 vision processing, tracking & following in simulation & reality</summary>
1. Simulation:
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Lane Following - TurtleBot3 | Lane Following - Remote PC |
|  |  |
| AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Capstone Project</a>: TurtleBot3 autonomous navigation (gymkhana challenge) in simulation & reality</summary>
1. Simulation:
2. Real-World:
3. Robustness Testing:
|  |  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|:-----------------------------------:|
| Simulation: Forward Direction; Start at Wall Following | Simulation: Forward Direction; Start at Line Following | Simulation: Forward Direction; Start at AprilTag Tracking | Simulation: Inverse Direction; Start at Line Following |
|  |  |  |  |
| Real-World: Forward Direction; Day; Start at Wall Following | Real-World: Forward Direction; Night; Start at Line Following | Real-World: Forward Direction; Night; Start at AprilTag Tracking | Real-World: Inverse Direction; Night; Start at Line Following |
4. Individual Tasks:
|  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|
| Wall Following - Simulation | Wall Following - TurtleBot3 | Wall Following - Remote PC |
|  |  |  |
| Obstacle Avoidance - Simulation | Obstacle Avoidance - TurtleBot3 | Obstacle Avoidance - Remote PC |
|  |  |  |
| Line Following - Simulation | Line Following - TurtleBot3 | Line Following - Remote PC |
|  |  |  |
| Stop Sign Detection - Simulation | Stop Sign Detection - TurtleBot3 | Stop Sign Detection - Remote PC |
|  |  |  |
| AprilTag Tracking - Simulation | AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Assignment 2-B</a>: TurtleBot3 open-loop control in reality</summary>
1. Teleoperation:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Physical TurtleBot3 Burger | Remote PC Terminal Window |
2. Open-Loop Circle:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
3. Open-Loop Square:
|   |   |   |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Slow (`lin_vel` = 0.05, `ang_vel` = 0.2) | Medium (`lin_vel` = 0.10, `ang_vel` = 0.4) | Fast (`lin_vel` = 0.15, `ang_vel` = 0.6) |
</details>
Assignment 3-A</a>: TurtleBot3 emergency braking, wall following & obstacle avoidance in simulation & reality</summary>
1. Simulation:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Emergency Braking | Wall Following | Obstacle Avoidance |
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Collision Avoidance - TurtleBot3 | Collision Avoidance - Remote PC |
</details>
Mini Assignment 4</a>: Intrinsic and extrensic calibration of Arducam BO196 on TurtleBot3 Burger </summary>
</details>
Assignment 3-B</a>: TurtleBot3 vision processing, tracking & following in simulation & reality</summary>
1. Simulation:
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Lane Following - TurtleBot3 | Lane Following - Remote PC |
|  |  |
| AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Capstone Project</a>: TurtleBot3 autonomous navigation (gymkhana challenge) in simulation & reality</summary>
1. Simulation:
2. Real-World:
3. Robustness Testing:
|  |  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|:-----------------------------------:|
| Simulation: Forward Direction; Start at Wall Following | Simulation: Forward Direction; Start at Line Following | Simulation: Forward Direction; Start at AprilTag Tracking | Simulation: Inverse Direction; Start at Line Following |
|  |  |  |  |
| Real-World: Forward Direction; Day; Start at Wall Following | Real-World: Forward Direction; Night; Start at Line Following | Real-World: Forward Direction; Night; Start at AprilTag Tracking | Real-World: Inverse Direction; Night; Start at Line Following |
4. Individual Tasks:
|  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|
| Wall Following - Simulation | Wall Following - TurtleBot3 | Wall Following - Remote PC |
|  |  |  |
| Obstacle Avoidance - Simulation | Obstacle Avoidance - TurtleBot3 | Obstacle Avoidance - Remote PC |
|  |  |  |
| Line Following - Simulation | Line Following - TurtleBot3 | Line Following - Remote PC |
|  |  |  |
| Stop Sign Detection - Simulation | Stop Sign Detection - TurtleBot3 | Stop Sign Detection - Remote PC |
|  |  |  |
| AprilTag Tracking - Simulation | AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Assignment 3-A</a>: TurtleBot3 emergency braking, wall following & obstacle avoidance in simulation & reality</summary>
1. Simulation:
|  |  |  |
|:-------------------------------------:|:-----------------------------------------:|:-------------------------------------:|
| Emergency Braking | Wall Following | Obstacle Avoidance |
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Collision Avoidance - TurtleBot3 | Collision Avoidance - Remote PC |
</details>
Mini Assignment 4</a>: Intrinsic and extrensic calibration of Arducam BO196 on TurtleBot3 Burger </summary>
</details>
Assignment 3-B</a>: TurtleBot3 vision processing, tracking & following in simulation & reality</summary>
1. Simulation:
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Lane Following - TurtleBot3 | Lane Following - Remote PC |
|  |  |
| AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Capstone Project</a>: TurtleBot3 autonomous navigation (gymkhana challenge) in simulation & reality</summary>
1. Simulation:
2. Real-World:
3. Robustness Testing:
|  |  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|:-----------------------------------:|
| Simulation: Forward Direction; Start at Wall Following | Simulation: Forward Direction; Start at Line Following | Simulation: Forward Direction; Start at AprilTag Tracking | Simulation: Inverse Direction; Start at Line Following |
|  |  |  |  |
| Real-World: Forward Direction; Day; Start at Wall Following | Real-World: Forward Direction; Night; Start at Line Following | Real-World: Forward Direction; Night; Start at AprilTag Tracking | Real-World: Inverse Direction; Night; Start at Line Following |
4. Individual Tasks:
|  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|
| Wall Following - Simulation | Wall Following - TurtleBot3 | Wall Following - Remote PC |
|  |  |  |
| Obstacle Avoidance - Simulation | Obstacle Avoidance - TurtleBot3 | Obstacle Avoidance - Remote PC |
|  |  |  |
| Line Following - Simulation | Line Following - TurtleBot3 | Line Following - Remote PC |
|  |  |  |
| Stop Sign Detection - Simulation | Stop Sign Detection - TurtleBot3 | Stop Sign Detection - Remote PC |
|  |  |  |
| AprilTag Tracking - Simulation | AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Mini Assignment 4</a>: Intrinsic and extrensic calibration of Arducam BO196 on TurtleBot3 Burger </summary>
</details>
Assignment 3-B</a>: TurtleBot3 vision processing, tracking & following in simulation & reality</summary>
1. Simulation:
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Lane Following - TurtleBot3 | Lane Following - Remote PC |
|  |  |
| AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Capstone Project</a>: TurtleBot3 autonomous navigation (gymkhana challenge) in simulation & reality</summary>
1. Simulation:
2. Real-World:
3. Robustness Testing:
|  |  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|:-----------------------------------:|
| Simulation: Forward Direction; Start at Wall Following | Simulation: Forward Direction; Start at Line Following | Simulation: Forward Direction; Start at AprilTag Tracking | Simulation: Inverse Direction; Start at Line Following |
|  |  |  |  |
| Real-World: Forward Direction; Day; Start at Wall Following | Real-World: Forward Direction; Night; Start at Line Following | Real-World: Forward Direction; Night; Start at AprilTag Tracking | Real-World: Inverse Direction; Night; Start at Line Following |
4. Individual Tasks:
|  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|
| Wall Following - Simulation | Wall Following - TurtleBot3 | Wall Following - Remote PC |
|  |  |  |
| Obstacle Avoidance - Simulation | Obstacle Avoidance - TurtleBot3 | Obstacle Avoidance - Remote PC |
|  |  |  |
| Line Following - Simulation | Line Following - TurtleBot3 | Line Following - Remote PC |
|  |  |  |
| Stop Sign Detection - Simulation | Stop Sign Detection - TurtleBot3 | Stop Sign Detection - Remote PC |
|  |  |  |
| AprilTag Tracking - Simulation | AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Assignment 3-B</a>: TurtleBot3 vision processing, tracking & following in simulation & reality</summary>
1. Simulation:
2. Real World:
|  |  |
|:-------------------------------------:|:-----------------------------------------:|
| Lane Following - TurtleBot3 | Lane Following - Remote PC |
|  |  |
| AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Capstone Project</a>: TurtleBot3 autonomous navigation (gymkhana challenge) in simulation & reality</summary>
1. Simulation:
2. Real-World:
3. Robustness Testing:
|  |  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|:-----------------------------------:|
| Simulation: Forward Direction; Start at Wall Following | Simulation: Forward Direction; Start at Line Following | Simulation: Forward Direction; Start at AprilTag Tracking | Simulation: Inverse Direction; Start at Line Following |
|  |  |  |  |
| Real-World: Forward Direction; Day; Start at Wall Following | Real-World: Forward Direction; Night; Start at Line Following | Real-World: Forward Direction; Night; Start at AprilTag Tracking | Real-World: Inverse Direction; Night; Start at Line Following |
4. Individual Tasks:
|  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|
| Wall Following - Simulation | Wall Following - TurtleBot3 | Wall Following - Remote PC |
|  |  |  |
| Obstacle Avoidance - Simulation | Obstacle Avoidance - TurtleBot3 | Obstacle Avoidance - Remote PC |
|  |  |  |
| Line Following - Simulation | Line Following - TurtleBot3 | Line Following - Remote PC |
|  |  |  |
| Stop Sign Detection - Simulation | Stop Sign Detection - TurtleBot3 | Stop Sign Detection - Remote PC |
|  |  |  |
| AprilTag Tracking - Simulation | AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
Capstone Project</a>: TurtleBot3 autonomous navigation (gymkhana challenge) in simulation & reality</summary>
1. Simulation:
2. Real-World:
3. Robustness Testing:
|  |  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|:-----------------------------------:|
| Simulation: Forward Direction; Start at Wall Following | Simulation: Forward Direction; Start at Line Following | Simulation: Forward Direction; Start at AprilTag Tracking | Simulation: Inverse Direction; Start at Line Following |
|  |  |  |  |
| Real-World: Forward Direction; Day; Start at Wall Following | Real-World: Forward Direction; Night; Start at Line Following | Real-World: Forward Direction; Night; Start at AprilTag Tracking | Real-World: Inverse Direction; Night; Start at Line Following |
4. Individual Tasks:
|  |  |  |
|:---------------------------------:|:------------------------------------:|:------------------------------------:|
| Wall Following - Simulation | Wall Following - TurtleBot3 | Wall Following - Remote PC |
|  |  |  |
| Obstacle Avoidance - Simulation | Obstacle Avoidance - TurtleBot3 | Obstacle Avoidance - Remote PC |
|  |  |  |
| Line Following - Simulation | Line Following - TurtleBot3 | Line Following - Remote PC |
|  |  |  |
| Stop Sign Detection - Simulation | Stop Sign Detection - TurtleBot3 | Stop Sign Detection - Remote PC |
|  |  |  |
| AprilTag Tracking - Simulation | AprilTag Tracking - TurtleBot3 | AprilTag Tracking - Remote PC |
</details>
CONTRIBUTING
No CONTRIBUTING.md found.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
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