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 project in which several schools and departments are involved, such as:

• the RICM and 3I departments of Polytech'Grenoble
• ENSIMAG
• Pole Design de Villefontaine

This project consists of developing an extensible and open-source robotic platform. The robot, called RobAIR, is a telepresence robot that can be used for museum tours while the user controls it thanks to an Android tablet.

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 February 25th to March 3rd

~ Holidays

WEEK 8: 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 9: 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 10: from March 18th to March 24th

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

WEEK 11: from March 25th to March 31st

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

WEEK 12: from April 1st to April 7th

~ Easter

WEEK 13: from April 8th to April 14th

• finishing the program
• preparation of the presentation
• writing of the report
• making the flyer

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.

• The pdf of the presentation (RobAIR2013): presentation_general.pdf
• The pdf of the presentation (WiFi roaming): presentation_roaming.pdf
• The report: rapport_roaming.pdf
• The Flyer of the project (RobAIR2013): flyer_general.pdf
• The Flyer of the sub-project (WiFi roaming): flyer_roaming.pdf
• The source code: Sources.tar