PERCEPTION, PLANNING AND CONTROL FOR ROBOTS THAT FIT IN YOUR PALM.
FROM 27-GRAM MICRO-UAVS TO TINY AUTONOMOUS SWARMS.
OPEN NOTES // REAL HARDWARE // REAL CRASHES
PERCEPTION & MAPPING
RANGE SENSORS, OPTICAL FLOW AND CAMERAS FUSED INTO OCCUPANCY MAPS. GPS-DENIED BY DEFAULT.
MOTION PLANNING
ROADMAPS, GRAPH SEARCH AND PATH PRUNING SO A PALM-SIZED ROBOT CAN THREAD A LIVING ROOM.
FLIGHT & CONTROL
EVENT-DRIVEN CONTROL LOOPS, STATE MACHINES AND SIM-TO-REAL PORTING ON REAL MICRO HARDWARE.
Simultaneous Localization and Mapping (SLAM) with Crazyflie
Navigating an unknown world using SLAM which enables UAVs like Crazyflie to perform GPS denied navigation.
Porting Motion Planning Project to Crazyflie
In this project of Udacity Flying Car and Autonomous Flight Engineer nanodegree, we will make the drone fly through an obstacle course.
Porting Backyard Flyer Project to Crazyflie
In this first project of Udacity Flying Car and Autonomous Flight Engineer nanodegree, we will make the drone fly in a predetermined square trajectory.
Crazyflie2.1 Micro-UAV Assembly Experience
Buying a micro-UAV may be a daunting task with so many options for someone starting out to explore this space of UAVs. This article summarized my experience deciding and buying a micro drone.
MICRO-UAV AUTONOMY
DONE: PORTED FLIGHT, PLANNING AND RANGE-BASED SLAM TO A 27 G CRAZYFLIE.
VISION ON THE AIRFRAME
NOW: CAMERAS AND TINY NEURAL NETS TO SEE THE CHAIR LEGS THAT RANGE SENSORS MISS.
MICRO GROUND BOTS & SWARMS
NEXT: PALM-SIZED ROVERS AND COORDINATED TEAMS OF SMALL ROBOTS.
AN INDEPENDENT LAB AND BUILD LOG FOR SMALL AND MICRO ROBOTICS. THE GOAL: GIVE ROBOTS THAT WEIGH TENS OF GRAMS THE SAME PERCEPTION, PLANNING AND CONTROL STACK THAT BIG ROBOTS ENJOY.