... simulator¹

See http://www.cs.utexas.edu/users/qr/robotics/flat/.

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....^1.1

Section 1.9 shows how to maintain mirror copies of the code on Vulcan and the other lab machines.

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... password.^1.2

If you don't know how to do this, send email to robotics@cs.utexas.edu.

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... steps^1.3

Unfortunately, we do not of a way we can use relative paths or environment variables when defining a Rscheme module to be compiled into C.

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... Flat.^1.4

See http://www.cs.utexas.edu/users/qr/robotics/flat/flat5-display.html.

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... shell.^1.5

You can run the system from your windows shell.

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... Vulcan.^1.6

See $VULCAN/src/wheelchair-start.scm .

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... Vulcan.^2.1

The code can be found at $ARGUS/splats/wheelchair-client.scm.

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... class.^2.2

The implementation of the methods in this class is done through the distributed object system (Chapter E).

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... follows:^2.3

See $ARGUS/robots/sick-pls/sick-scan-data.scm.

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... include:^2.4

See $VULCAN/src/get-laser-data*.scm.

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....^3.1

See Chapter B on how to compile Rscheme into C.

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... include:^3.2

Please see the source code for a complete listing of these functions.

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... are:^3.3

Rscheme has a timer class that is different from the one we are defining here.

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... include:^3.4

Please refer to the source code for the documentation of these functions.

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... fields:^3.5

See $VULCAN/system-handles/src*.

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....^3.6

wsh stands for With-System-Handle.

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... logs.^3.7

See $VULCAN/system-handles/src/trace.scm.

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...*log-directory*.^3.8

This variable is defined in the file $VUCAN/setup.scm. Please modify this file to your convenience.

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...3.8^3.9

Rscheme does not handle default (optional) argument in the function definition.

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... log:^3.10

See $VULCAN/src/file-log-server.scm

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...tex2html_verb_mark^3.11

See $VULCAN/system-handles/util/display.scm.

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... so:^3.12

The code can be found at $VULCAN/examples/display-server.scm.

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... follows:^4.1

The code of the splat can be found at $VULCAN/examples/stopping-controller.scm.

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... .^4.2

See Chapter 2.

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... robot.^4.3

The wheelchair frame of reference assumes that the x axis extends forward and the y axis extends to the left. Thus, angle zero is straight forward, positive angles are to the left, and negative angles to the right.

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...tex2html_verb_mark^4.4

The expression self refers to the splat being defined.

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... controller.^4.5

Since the example has only one control expert, we do not benefit much of using the hc-blending-navigation-policy contructor in this case. However, more realistic splats will benefit of such constructor.

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...,^4.6

The code of the splat can be found at $VULCAN/examples/stopping-controller-1.scm.

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... above.^5.1

The source code can be found at $VULCAN/examples/right-wall-bf.scm.

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... code.^5.2

The source code below can be found at $VULCAN/examples/kalman-filter.scm.

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....^5.3

The VI is provided at $VULCAN/examples/error-theta.vi .

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... code:^5.4

The source code is provided at $VULCAN/examples/right-wall-bf-display-server.scm .

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... shell.^7.1

You can run the system from your windows shell.

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