Glossary

From DGC Wiki

Glossary

• CAE: CorridorArcEvaluator - This is the map-based MTA module that was used in the 2004 GC and intended to keep the vehicle within the corridor.
• CS/EE/ME 75 - 2004-2005 GC Caltech project course (computer science, electrical engineering, mechanical engineering)
• DAMN: Distributed Architecture for Mobile Navigation - a steering arbiter architecture
• DARPA: Defense Advanced Research Projects Agency - Grand Challenge organizers
• DEM: Digital Elevation Map - Grid-based terrain representation
• DFE: Dynamic Feasibility Evaluator - This is the MTA module that reduced the chance of rollover in the 2004 GC by considering the vehicle speed and roll angle.
• dGPS: Differential Global Positioning System is an enhancement to Global Positioning System that uses a network of fixed ground based reference stations to broadcast the difference between the positions indicated by the satellite systems and the known fixed positions. These stations broadcast the difference between the measured satellite pseudoranges and actual (internally computed) pseudoranges, and receiver stations may correct their pseudoranges by the same amount. [1]
• DMI: Distance Measuring Indicator, which is a component of the Applanix POS LV 420.
• FenderPlanner: a module intended to use static data about terrain, collected in advanced. The name comes from Tony Fender, a long time supporter of the team.
• Gazebo: A simulation engine used in Player/Gazebo
• GC or DGC: Grand Challenge - The DARPA Grand Challenge
• GESTALT: Grid-based Estimation of Surface Traversability Applied to Local Terrain - a system for interpreting navigation data, based on Carnegie Mellon's Morphin Algorithm (also see this paper)
• GNU - GNU's Not Unix
• GPS: The Global Positioning System is currently the only fully-functional satellite navigation system. More than two dozen GPS satellites are in medium Earth orbit, transmitting signals allowing GPS receivers to determine the receiver's location, speed and direction. [2]
• GUI: Graphical User Interface. (1) The visual layout through which a user interacts with an application, or (2) an application providing an instance of (1).
• IA: Intelligent Agent [3]
• IMU: Inertial Measurement Unit - Device to measure accelerations and angular rates
• LADAR or LIDAR: Lasar Imaging Detection and Ranging
• LAGR: Learning Applied To Ground Robots
• MDF: Mission Data File - "The MDF describes a sequence of checkpoints to be visited in order by vehicle". See also RNDF
• MTA: Message Transport Architecture - This is the framework on which the 2004 GC software was written. It provides messaging between modules.
• NEMA - National Electrical Manufacturers Association. Sets standards for power connectors and electrical specification [4].
• NTG: Nonlinear Trajectory Generation - a library for real-time trajectory generation.
• NQE: National Qualifying Event
• PCA: Principal component analysis
• Player: An interface server used to connect to a simulation engine like Gazebo or Stage. See the homepage
• PID: Proportional, Integral and Derivative. A PID Controller is one that uses feedback to control a system. In particular, it combines Proportional, Integral and Derivative components of the feedback (loosely speaking) to excercise such control. More info at AM06
• POS LV: Position and Orientation System for Land Vehicles, such as the Applanix POS LV 420.
• QID: Qualification, Inspection and Demonstration - Qualification event for vehicles that took place the week before the 2004 GC
• RDDF: (DGC 2005) Route data definition file - DARPA-defined race route, defines the boundaries and speed limits in a varying width corridor (Used in 2005)
• RNDF: Route Network Definition File - DGC 2007 version of RDDF - Describes a route's segments, lanes, waypoints, and zones
• Sparrow : a software display and interface package for real-time control. Written by Richard Murray
• UFE: Urban Challenge Final Event
• USB: Universal Serial Bus - "serial bus standard to interface devices"

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