Uppsala Universitet
Department of Information Technology
Ringhorne 2005
Project plan
Editor: Fredrik Hellman
Project plan
Revision history
Version Date
0.1
2005-02-08
Editor
Fredrik Hellman
Remarks
Summary
This document is produced as the project plan for the 2005 IT Project, Ringhorne, at Uppsala
University. The goal of the project is to construct a robot system consisting of two robots
designed to, as a team, enter an unknown, partially damaged building. When inside the
building the robots will generate a map of the structure of the building and the location of any
human victims. The robots will function autonomously.
Distribution
This document will be distributed to the customer, the course homepage, the official
documents folder, and inserted into the project CVS.
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Uppsala Universitet
Department of Information Technology
Ringhorne 2005
Project plan
Editor: Fredrik Hellman
Project Identity
Project
Development of 2 RoboCup Rescue Robot League robots
Project members
Torkel Danielson
Markus Elving
Fredrik Hellman
Henrik Hofling
Robert Koskinen
Mikael Laaksoharju
Kaveh Mehrabi
Carl-Johan Otterheim
Dan Pettersson
Per Svensson
Stefan Varnelid
Erik Winter
toda9439@student.uu.se
mael7487@student.uu.se
frhe1845@student.uu.se
heho5769@student.uu.se
roko3379@student.uu.se
mila3061@student.uu.se
kame2637@student.uu.se
caot4969@student.uu.se
dape8305@student.uu.se
pesv6835@student.uu.se
stva0799@student.uu.se
erwi1845@student.uu.se
Homepage
http://www.robocup.it.uu.se/ringhorne
Responsible for
the course
Jakob Carlström
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jakob.carlstrom@it.uu.se
Uppsala Universitet
Department of Information Technology
Ringhorne 2005
Project plan
Editor: Fredrik Hellman
Table of Contents
1
Project Description ............................................................................................................. 4
1.1
Background ................................................................................................................ 4
1.2
Goals........................................................................................................................... 4
1.3
Deliverables ................................................................................................................ 5
2
Time Plan ........................................................................................................................... 6
2.1
Week Plan .................................................................................................................. 6
2.2
Milestones .................................................................................................................. 6
2.3
Deadlines .................................................................................................................... 6
Organization Plan ....................................................................................................................... 7
2.4
Responsible Persons ................................................................................................... 8
2.5
Responsibilities .......................................................................................................... 8
3
Risk Analysis and Problem Handling ................................................................................ 9
4
Communication Plan .......................................................................................................... 9
4.1
Meetings ..................................................................................................................... 9
4.2
Webpage ..................................................................................................................... 9
4.3
E-mail & Telephone ................................................................................................... 9
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Uppsala Universitet
Department of Information Technology
Ringhorne 2005
Project plan
Editor: Fredrik Hellman
1 Project Description
1.1 Background
The robots designed by Autonomous relief (RFC Uppsala) constitute a fully autonomous
distributed robot system for solving rescue tasks. The robots are equipped with a new
powerful AI engine, many sensors and very accurate positioning routines. The new AI
incorporates all sensor data available to all robots in a team into one accurate map. Dead
reckoning pose estimate is powered by SLAM. The robots carry a multitude of sensors,
including ultrasonic-, infrared-, CO2- and pyro-electric sensors. The robots are also equipped
with cameras, using advanced stereo algorithms to extract data. All of these features are used
when navigating through a disaster area while mapping it and quickly and reliably locating
victims.
1.2 Goals
Our goal is to successfully deliver a robot system according to the requirement specification
on May 31. Another goal is for all project members to gain deeper knowledge in how to work
in a project and how to develop highly advanced hardware and software. The final goal is to
win the RoboCup Rescue Robot League in Osaka, Japan in July 2005.
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Uppsala Universitet
Department of Information Technology
Ringhorne 2005
Project plan
Editor: Fredrik Hellman
1.3 Deliverables
1.3.1 Team Description Paper
A Team Description Paper (TDP) shall be delivered to the RoboCup organization on February
15. The TDP shall explain how the robot system is designed and implemented.
1.3.2 Robot System
On May 31 the complete robot system shall be ready for delivery to the customer. All parts of
the requirement specification shall be complete.
1.3.3 Reviews
On March 31 and May 19 there will be reviews. Then the whole project group shall hold a
presentation for the customer showing the progress of the project and the work plan for the
rest of the project.
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Uppsala Universitet
Department of Information Technology
Ringhorne 2005
Project plan
Editor: Fredrik Hellman
2 Time Plan
2.1 Week Plan
SOME KIND OF GANTT CHART HERE!
2.2 Milestones
MS1 3/2
 A CVS shall be up and running and all project members shall know how to use it
(responsible Per Svensson).
 A logotype shall be drawn for the project (responsible Mikael Laaksoharju).
 Requirement specification done for negotiation with the customer (responsible Fredrik
Hellman).
 Document templates shall be done and up on the CVS (responsible Dan Pettersson,
Carl-Johan Otterheim).
 Information sheet about the project (A4) shall be done (responsible Dan Pettersson,
Carl-Johan Otterheim).
 Pictures of all project members shall be on the project webpage (responsible Kaveh
Meharbi).
 A demonstration of the sensors from last year’s project shall be booked (responsible
Dan Pettersson, Carl-Johan Otterheim).
 A demonstration of the complete robot systems from last year’s project shall be
booked (responsible Dan Pettersson, Carl-Johan Otterheim).
2.3 Deadlines
MS2 3/3
 A drivable robot shall be done which includes
o Simple OpGUI with the possibility to steer the robot and to display a video
capture from the robot (responsible Kaveh Meharbi, Fredrik Hellman).
o Simple wireless communication (responsible Dan Pettersson, Per Svensson,
Carl-Johan Otterheim, Robert Koskinen).
o Working HW and OS (responsible Per Svensson, Kaveh Meharbi, Henrik
Hofling, Stefan Varnelid).
o Camera- and sensor-evaluation completed (responsible Henrik Hofling).
o USARSim working, with the possibility to test some AI (responsible Torkel
Danielsson, Erik Winter, Mikael Laaksoharju, Markus Elving).
 Documentation
o Project plan (responsible Fredrik Hellman).
o Economic overview (responsible Markus Elving).
o Design specifications (responsible Robert Koskinen).
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Uppsala Universitet
Department of Information Technology
Ringhorne 2005
Project plan
Editor: Fredrik Hellman
MS3 22/3
 The system shall work as follows
o IR sensors functionable which includes a Player driver (responsible Henrik
Hofling).
o AI shall be done (responsible Torkel Danielsson).
o The design of the robot shall be done (responsible Dan Pettersson).
o The new HW shall be installed and working (responsible Dan Pettersson,
Stefan Varnelid).
o The design of the decision-making part of the OpGUI shall be done, but the
underlying functionality doesn’t have to work (responsible Kaveh Mehrabi,
Robert Koskinen).
o USARSim shall be in phase with the physical development of the robot
including the sensors (responsible Erik Winter).
o TCP Westwood implemented (responsible Per Svensson).
o The lamps shall be purchased and the on/off function shall be implemented
(responsible Stefan Varnelid).
MS4??/?
MS5??/?
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Uppsala Universitet
Department of Information Technology
Ringhorne 2005
Project plan
Editor: Fredrik Hellman
3 Organisation Plan
3.1 Gannnnnnnnnnnnnnnnnnntttttttttttttttttttttttttt chart here!
3.2 Responsible Persons
Position
Project manager
Technical coordinator
Simulator group leader
Document manager
OpGUI group leader
HW group leader
Design manager
Customer contact
Webmaster
Software support
Information and PR
System administrator
Member
Fredrik Hellman
Torkel Danielsson
Torkel Danielsson
Dan Pettersson
Kaveh Mehrabi
Per Svensson
Robert Koskinen
Fredrik Hellman
Henrik Hofling
Different for each software application
Dan Pettersson
Per Svensson
3.3 Responsibilities
3.3.1 Project Manager (PM)
The PM is responsible for the whole project. It’s the PM’s responsibility to:
 briefly plan and follow up the work
 make sure that the workload is divided between the project members
 to establish and conduct weekly meetings
 to inform the instructor of the status of the project
 to ensure that information flow within the group
 to follow up the risks in the project
 to produce a project plan
3.3.2 Technical Coordinator (TC)
The TC should have knowledge about the technical solutions in all parts of the project and
assist the PM with administrative help when needed.
3.3.3 Other responsible persons
All other areas are handled by the responsible person, in cooperation with the PM and TC, for
that area.
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Uppsala Universitet
Department of Information Technology
Ringhorne 2005
Project plan
Editor: Fredrik Hellman
4 Risk Analysis and Problem Handling
Through the project it is the project manager’s responsibility to gather information from the
project members (and others) about upcoming risks. All events that threaten the project in any
way should be taken seriously and dealt with in a structured matter.
If the occurred problem/risk is considered to be minor the project manager may deal with it
without notification of the other project members or the supervisors.
If the occurred problem/risk is considered to be bigger the project manager should gather any
project members and supervisors that have to be involved.
5 Communication Plan
This chapter describes the project group’s channels for communication and reporting.
5.1 Meetings
Weekly meeting will be conducted on Mondays at 10 AM. All project members are required
to participate. Additional meetings are managed in the groups or announced by the PM.
5.2 Webpage
The project webpage shall be updated with the latest information about the project and other
useful information.
5.3 E-mail & Telephone
The project members are expected to read their e-mail daily. The e-mail addresses of all group
members can be find in the Project identity. All project members can be addressed by emailing to ringhorne@list.it.uu.se. Telephone numbers to all project members can be found
on the contact list available both in the arena room and the project room.
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