Second Symposium on Indoor Flight Issues

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2010
The 2010 Symposium on Indoor Flight Issues was held on 12 August, 2010 on the campus of the University of Puerto Rico in Mayagüez. Links to the .pdf versions of the Symposium papers are provided below:
Georgia Tech Team Entry for the 2010 AUVSI International Aerial Robotics Competition
Girish Chowdhary, D. Michael Sobers, Jr., Chintasiddhi Pravitrax, Claus Christmann, Allen Wu, Hiroyuki Hashimotox, Chester Ong, Roshan Kalghatgik, Eric N. Johnson
Georgia Institute of Technology
Atlanta, GA USA
Abstract:
This paper describes the details of a Quadrotor Unmanned Aerial Vehicle capable of exploring cluttered indoor areas without relying on any external navigational aids. An elaborate Simultaneous Localization and Mapping (SLAM) algorithm is used to fuse infor-mation from a laser range sensor, an inertial measurement unit, and an altitude sonar to provide relative position, velocity, and attitude information. A wall-following guidance rule is implemented to ensure that the vehicle explores maximum indoor area in a reasonable amount of time. A model reference adaptive control architecture is used to ensure stability and mitigation of uncertainties. The vehicle is intended to be Georgia Tech Aerial Robotic Team's entry for the 2010 International Aerial Robotics Competition.
Development of a Monocopter for Exploration of GPS-Denied Indoor Environments
Christopher Hockley, Michael King, Rajan Khatri, Christopher Kirby, Christopher Sammet, Michael Bakula, Dr. Charles Reinholtz
Embry-Riddle Aeronautical University
Daytona Beach, FL USA
Abstract:
Embry-Riddle Aeronautical University (ERAU) has developed SamarEye, a novel Autonomous Aerial System (AAS), to compete in the 2010 International Aerial Robotics Competition (IARC). Responding to the challenges associated with flight in Closed Quarter Environments (CQE), the SamarEye has evolved significantly from the system entered in the 2009 IARC. The latest version of SamarEye incorporates a field programmable gate array (FPGA), a lightweight, high-speed line-scan camera, and simple robust behaviors in a compact, cost-effective package. The samara-based air vehicle embodies simplicity, low weight, and elegant aerodynamic design in an operationally capable CQE platform.
Design and Development of South Dakota School of Minesand Technology's Aerial Robotic Reconnaissance System
Raunaq Bhushan, Toby Hullinger, Brian Jensen, Erik Kaitfors, Andrew Mcguire, Jefferson Olsen, Jacob Oursland, Jamie Vickery
South Dakota School of Mines and Technology Unmanned Aerial Vehicle Team
Rapid City, SD USA
Abstract:
The South Dakota School of Minesand Technology Unmanned Aerial Vehicle (SDSM&TUAV)Team will participate in the 2010 International Aerial Robotics Competition (IARC)with a single quadrotor helicopter. The vehicle has been designed to autonomously locate and enter a one square meter opening, traverse a series of obstacles to obtain and replace a USB flash drive with a mechanical arm actuated by a servo. This is to be done with in ten minutes while avoiding detection formed evices such as cameras and laser barriers. To achieve the desired level of autonomy, a monocular Graph Simultaneous Localization and Mapping (SLAM) algorithm along with the vehicle's attitude estimation will provide estimates of the vehicle's location as well as a map of the environment. Communications between an onboard embedded computer and an operator control unit meet IARC Joint Architecture for Unmanned Systems (JAUS) compliance.
Object Recognition and Retrieval Using an Autonomous Indoor Aerial Vehicle
Torben Rasmussen and Joey Tomlinson
Robotics Club Oregon State University
Corvallis, OR USA
Abstract:
The 6th mission of the International Aerial Robotics Competition picks up where the 5th left off, challenging teams to perform more complex navigation and object manipulation tasks using autonomous aerial robots. The 6th mission’s competition arena is a security complex with an office that contains a USB flash drive which holds sensitive information. This paper describes our quad rotor platform which is designed to autonomously navigate the building and retrieve the flash drive. The platform accomplishes this task using inertial sensors, a LIDAR sensor, and a camera. Platform stability is controlled using PID algorithms which run on an embedded 8 bit microcontroller and use inertial data to maintain pitch, roll, and yaw. Navigation is accomplished using SLAM algorithms. Recognition of the flash drive is done using image recognition software developed using the OpenCV computer vision libraries. This autonomous platform caries a magnetic flash drive retrieval and replacement system.
Development of an autonomous aerial vehicle using Laser range finder
C. Raviteja, A. Ravikanth, R. Pranay, T. Anish, R. Girish, Kedar Kulkarni, S. Sriseshan, P. Celestine, Aditya Bharadwaj
Indian Institute of Technology
Madras, Chennai, India
Abstract:
Team Swift of the Indian Institute of Technology--Madras is participating in the 20th edition of the International Aerial Robotics Competition conducted by the Association for Unmanned Vehicle Systems International. The complete problem statement is that the robot has to search an indoor arena for a pen drive kept in a box, acquire the original pen drive, replace it with a fake one and bring back the original one. The vehicle has to avoid a series of laser beams during the mission. The approach to the solution involves a Quadrotor helicopter enabled with a combination of Stability Augmentation Systems for stability, Simultaneous Localization and Mapping for positioning, Navigation and Image processing for object detection. Extensive multi-disciplinary work is involved in solving this problem statement.
Development of a Low Cost Autonomous Indoor Aerial Robotics System with Passive Stabilization
Christopher Miller, Frank Manning
Pima Community College
Tucson, AZ USA
Abstract:
The Pima Community College UAV Club has designed an air vehicle system to compete in the International Aerial Robotics Competition (IARC). The rules require an autonomous air vehicle to fly through an open portal into a cluttered indoor environment, search for a small flash drive and exchange the drive with a decoy while evading or deactivating various security systems. The mission deadline is between 5 and 10 minutes, depending on whether security alarms are triggered. The team designed a low cost air vehicle with a jellyfish configuration, on which a balloon stabilizer provides passive stability. Twin propellers suspended beneath the balloon provide lift, and a separate modular 2D thrust vector control system provides precise horizontal positioning, allowing the vehicle to respond rapidly to changes in HVAC air movement.
Quadrotor Unmanned Aerial Vehicle for the International Aerial Robotics Competition
Thomas Brady, Nona Ebrahimi, Matt Edelman, Daniel Ellis, Thomas Manville, Rohan Mehta, Ryan Moore, Anthony Smith
University of Michigan
Ann Arbor, MI USA
Abstract:
The University of Michigan’s Autonomous Aerial Vehicle Team (MAAV) will compete in the 2010 International Aerial Robotics Competition using a student-developed quadrotor helicopter called MAAVerick. MAAV has implemented mapping techniques, decision logic, and control algorithms to navigate through an unknown facility to locate and retrieve a flash drive.
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