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Aerial-Ground cooperative systems

In recent years the interest in autonomous aerial vehicles (AUV) has had a massive increase. The research in this area has been focused on hardware design, modelling, control algorithms and more recently in aggressive maneuvers, collaborative tasks and the movement of swarms of UAV. One of the most interesting open problems in this field is the collaboration between autonomous aerial and ground robots, the goal is to have a system of heterogeneous robots which work together in order to complete a goal, specifically in cases where the advantages of each robot complement the disadvantages of the others and allows them to achieve the goal in a faster, more accuratel or in a safe way.

In the Control Methods and Robotics Lab we currently have a team of Quadrotors and Omnidirectional robots with the required sensors for autonomous tasks and simulation environments based on V-REP, ROS and Gazebo. We are developing the next generation of algorithms for autonomous cooperative robotics and we offer several topics in this area. Feel free to ask or propose topics related to this research.

Bachelor Thesis: Structured light detection system for pose estimation and camera calibration

Structured light is the process of displaying a known pattern on a screen (often grids or horizontal bars). By capturing the displayed patterns with a camera it is possible to match positions on the screen with positions in the camera image. The matches are then used to obtain a calibration of the camera and to estimate the relative pose of the camera to the display.

Goals

  • The design and development of a structured light detection system using a camera and a screen to obtain the camera calibration matrix and its relative pose to the screen.

Requirenments

  • Knowledge of C/C++ and basic knowledge of computer vision is recommended.

Master Thesis: Integration of a laser and a camera into a quadrotor for height control

The Asctec Firefly is one of the quadcopters available in the Robotics Lab. Currently the quadcopter has an IMU, GPS and barometer sensors, which work very well for height control outdoors, however in indoor environments the GPS and barometer cant be used. In order to control the height and localize the quadcopter new sensors must be integrated.

Goals

  • To integrate physically and electronically a laser and a depth camera into the quadcopter and to develop the control algorithm for height control in indoor environments.

Requirenments

  • High knowledge of control theory and excellent programming skills. Previous experience with quadcopters or embedded systems preferable.

Running projects

Autonomous UAV control for a predator-prey scenario

Master Thesis. Feb – Aug 2017

Automation of an underwater vacuum cleaner

IREP Internship. Jun – Aug 2017

Closed-loop model identification of a Nano Quadcopter

Bachelor Thesis. Jun – Aug 2017

Finished Projects

Ellipse detection analysis and usage in a dynamic fiducial marker

Bachelor Thesis. Jan 2017 – May 2017

Towards autonomous quadcopter landing using visual servoing and fiducial markers

Master Thesis. Nov 2016 – May 2017

Distributed perception and pose estimation in Multi-Robot Systems

Proseminar. 2016

Design of a dynamic fiducial marker system for quadcopter landing

Master Thesis. May-Nov 2016

Velocity Controller Design for a Fly-by-Wireless Quadcopter

Master Thesis. Mar-August 2016

Tracking and control system for mini-quadcopters

Bachelor Thesis. Mar-Jul 2016

Design of a wireless camera system for a quadcopter

Bachelor Thesis. October 2015 – March 2016

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