Alice: Vehicle Control
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This lecture provides a detailed description of the vehicle control system for Alice, emphasizing the messaging interfaces and multi-threaded control architecture. We describe in detail the code for Follow, a simple control system used in CDS 110b. Key aspects of follow include the user interface (implemented with Sparrow), the interfaces to the state estimator, path planner and actuation subsystem (implemented with Skynet and DGCutils) and the trajectory tracking control itself (implemented with Falcon).