RobAIR2013-RICM4-Groupe1-Suivi

= the Team =

This team is composed of two 4th year Polytech Grenoble students, in System & Networks specialty.

The members of this team are Alexandre Corso and Laurène Guelorget.

= Project objectives = Our project is a part of the RobAIR2013 project.

The shared project
RobAIR is a shared project with two others schools:
 * ENSIMAG
 * Superior Pole Design of Villefontaine

The project consists of the development of a telepresence robot used for museum tours. It is a low cost robot (well below the maket price). The platform and software used for this robot are extensible and open-source.

Our sub project objectives
We are responsible for the roaming between the robot and the landscape:
 * Roaming ensures that the wireless device is kept connected to the network, without losing the connection.
 * For that, we decided to use the Multipath TCP Protocol because it offers better throughput and a smoother reaction to failures.

=Technologies used=


 * Multipath TCP Protocol

=Material=
 * 1 Lego Mindstorm NXT Robot
 * 2 Intel ExoPC Slate
 * 1 USB Sound card
 * 1 XBox Kinect
 * 1 Lidar
 * 2 DIY stereoscopic cameras

=Progress of the project=

The project started January 14th, 2013.

WEEK 1: from January 14th to January 20th

 * We discovered the project and the different objectives.

WEEK 2: from January 21st to January 27th

 * We organized a meeting with the 3I4 and RICM4 students. During this meeting, we talked about what everyone understood of this project and what everyone's objectives are.
 * We met with the three students from Pole Design de Villefontaine and they told us what they have been working on for the last month.
 * Meeting with Rémi Barraquand at INRIA to talk about ROS.

WEEK 3: from January 28th to February 3rd

 * Writing of the SRS (first draft)
 * Talk with Thomas Calmant and Joao Claudio Américo who worked on RobAIR before with Didier Donsez

WEEK 4: from January 4th to February 10th

 * Meeting with the RICM5 working on this project
 * Talk about the different options to use to implement the roaming. We decided to use the Multipath TCP protocol and we started to study this protocol.

WEEK 5: from February 11th to February 17th

 * Comparison tests between the latency when disabling an interface with TCP and MPTCP.
 * We updated our SRS to its final version.

WEEK 6: from February 18th to February 24th

 * We received 2 wifi cards and tested them.
 * We created the UML page for the project.

WEEK 7: from March 4th to March 10th

 * We are writing a script to scan and search for available networks (in C language):
 * - First we scan the network
 * - Then, we order the available list of networks by signal strenght
 * - Next, we compare the SSIDs to a database of past used networks
 * - Finally, we connect the robot to the network

WEEK 8: from March 11th to March 17th

 * We installed WAMP and created a database with PhpMySQL
 * Program that put the ssid, password and signal strenght in a file

WEEK 9: from March 18th to March 24th

 * Parsing of a file to get the different data concerning a network

WEEK 10: from March 25th to March 31st

 * working on the roaming software
 * helping build the robot (configuration 2) with Didier Donsez

=Related documents=


 * The Software Requirements Specification (SRS) can be found here.
 * The UML of this project can be found here.
 * The global project's page can be found here.