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 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.gz