MobiLoc: Mobility Enhanced Localization

CS294-1 Project Schedule

Prabal Dutta and Sarah Bergbreiter


    - Admin (1 day)
        X Code organization
        X SourceForge TinyOS module?
        X Directory names
        - Makefile includes
        - Tools (e.g. viz, Matlab)
        X Docs
        X Committing, other CVS commands
11/9
    - Architecture/Intefaces (1 day now & 1 day later)
        - Communications
            - Message Types
            X ids
            - etc.
        X Module Names/roles
        X System Architecture
11/11
    X Visualization (3 days)
        X >>Java<< or Matlab?
        X Plot (x,y) + id
        X Network interface (e.g. SerialForward)
        X Gridlines to get "visual" sense of error
11/14
    - TimeSync (1 day)
        - Test/Verify/Tune/Integrate
11/15
    - Vehicle motion (0 days + time to mount magnets)
        - Get magnets from Cory
        - Determine range constraints
        - Use "unfriendly" car (under radio control of class)
        - Strap a magnet on the car
        X Get a "test" car running
11/15
    - Mag Ranging/Bearing/Both model (1 week)
        - Math to support (ranging/bearing)
        - Math to convert sensor-to-object ranges to sensor-to-ranges
        - Possibly use MDS
        - Code to support (has to work)
        - Verify bias subtraction
        - Design/validate test trajectories
11/22
    - Ultrasonic Ranging (1 week)
        - Meet with Kamin to understand Calamari
        - Code to determine ranging
11/22
    - Collaborative Localization (2 weeks)
        - Collect range/bearing locally
        - Share with neighbors (or centralized fusion center)
        - Pick "anchor" point (maybe lowest numbered node) and
          overlay "relative" coordinate system
        - Update (relative) position as new information arrives
        - How to deal with noise?
        - Fix coordinate system relative to some node on first detection
        - Use history and median (mean?) over range estimates to neighbors
12/5
    - Contingency (Dec 1)

    - Ideally outdoor demo (Dec 4)
        - Assume fixed orientation
            - Provide calibration routine