https://github.com/saronic-technologies/state_predictor_challenge

https://github.com/saronic-technologies/state_predictor_challenge

Last synced: 4 months ago
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• Host: GitHub
• URL: https://github.com/saronic-technologies/state_predictor_challenge
• Owner: saronic-technologies
• Created: 2024-05-14T23:24:22.000Z (about 2 years ago)
• Default Branch: main
• Last Pushed: 2024-08-06T20:06:10.000Z (almost 2 years ago)
• Last Synced: 2025-09-16T09:40:41.938Z (9 months ago)
• Size: 19.9 MB
• Stars: 2
• Watchers: 4
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# Saronic State Prediction Challenge

## Context

Vehicle dynamics on a robot in the water can be challenging. This challenge is a first pass on understanding the challenges behind how vehicle controls in varying sea states can be difficult. 

## Goal

We want two predictors:

- Predict the next vehicle state given a sequence of vehicle

  controls and the current vehicle state.

  - vehicle state is an AHRS message, see the ahrs.log for an example

- Predict the sequence of vehicle controls to achieve a desired vehicle state given a current vehicle state

  - vehicle state is an AHRS message, see the ahrs.log for an example

## Dataset

We have provided two dataset files which can be fetched using `git lfs pull` after installing git lfs:

- vehicle_control.csv

  - This is a csv with ts, throttle and turn values

    - ts is a timestamp in UTC

    - throttle is a float value between 0.0-1.0

    - turn is a float value between -1.0 and 1.0

      - 0.0 to 1.0 is a right hand turn

      - -1.0 to 0.0 is a left hand turn

    - gear is a discrete motor setting:

      - 0 neutral

      - 1 forward

      - 2 reverse

    - trim is the discrete trim command that affects boat dynamics, taking on vals 0, 1 or 2.

- ahrs.csv  

  - This is a csv with ts, roll_deg, pitch_deg, yaw_deg, ve_mps,

    vn_mps, vu_mps, omega_x_dps, omega_y_dps, omega_z_dps, ax_mps2,

    ay_mps2, az_mps2

    - ts is a timestamp in UTC

    - roll_deg, pitch_deg, and yaw_deg are degrees values

    - ve_mps, vn_mps, and vu_mps are velocities in meters per second in the ENU frame

    - omega_x_dps, omega_y_dps, and omega_z_dps are angular rates in the FRD frame

    - ax_mps2, ay_mps2, and az_mps2 are meter per second^2 accelerations in FRD frame

## Submission

- Send us a git repo with code for the two predictors and instructions on how to run it   

- Also add a README/document with a description explaining the design for your predictor

- Any visualizations or plots to accompany your code are encouraged in your document that explains your design