Fourth Symposium on Indoor Flight Issues

The 2012 Symposium on Indoor Flight Issues was held during August 2012 at the American Venue in Grand Forks, North Dakota USA adjacent to the campus of the University of North Dakota at the Center for Innovation, and in a parallel session at Beihang University in Beijing, China. Links to the .pdf versions of the Symposium papers are provided below:
Comb Studio's Autonomous Aircraft for the IARC 2012
Jing YU, Dongliang SONG, Ruyi YAN, Lingshuai KONG, Qing LIN, Huiyao WU, Meng CHEN
Beihang University
Beijing, China
This paper describes the details of an autonomous aircraft capable of exploring cluttered indoor areas without relying on external navigational aids. A Simultaneous Localization and Mapping (SLAM) algorithm is used to fuse information from a laser range sensor, an inertial measurement unit to provide relative position, velocity, and attitude information. Via front-facing camera, the targets including LED light, laser trip wire label and doorplate can be identified. Thus, the aircraft could enter a specified room, find the flash disk, and put down the fake one. The vehicle is intended to be Beihang University Comb Studio's entry for the International Aerial Robotics Competition in 2012.
Autonomous Unmanned Aerial Vehicle for Reconnaissance based on Robotic Operating System
Robin Singh, Aditya Jain, Pratik Sen, Vivek Radhakrishnan, Dr Anand Kumar
Birla Institute of Technology and Science, Pilani-Dubai Campus
Dubai, UAE
The Intelligent Flying Object for Reconnaissance (IFOR) is an autonomous aerial vehicle that has been developed by students of BITS Pilani, Dubai Campus. The vehicle is capable of localizing itself using the SLAM algorithm, stabilize its attitude (pitch, roll and yaw) and altitude using PID controllers, plan paths around obstacles and navigate an unknown indoor environment with wall following guidance. In addition, it has been designed to be capable of pattern recognition which would enable it to recognize images and signs. These features enable the IFOR to execute the 6th mission of the International Aerial Robotics Competition, which involves scanning an unknown indoor arena protected by laser barriers and cameras, bestrewn with obstacles, in search of a flash drive.
Autonomous Navigation, object detection and retrieval in an Indoor Environment
Achal D Arvind, Shashanka L
B.N.M. Institute of Technology
Bangalore, India
The paper deals with the control and navigation for the autonomous aerial vehicle (UAV) in an Indoor (as GPS is denied) environment. The solution splits the problem into 3 modules being: Vehicle Operation, Navigation and path planning, Image Processing. The three operations are performed simultaneously to achieve indoor flight.
The narrow space aircraft design
Bi Wen Yan, Jia Cun Liang, Li Fu Qiang, Liu Yong
China University of Mining and Technology
XuZhou, JiangSu, China
In recent years, the broad application of the military and civil market needs andunique advantages to promote the development of a four-rotor aircraft (QuadrotorHelicopter). Independently design and production of prototype four-rotor aircraftdynamics and power system dynamic model and Kalman filter is used attitude solution and part of the attitude control using a PID (Proportional IntegralDerivative) controller. The four-rotor aircraft flight control system to determine the pros and cons of the four-rotor aircraft flight performance. First of all, the four-rotor aircraft flight principle is introduced, established adynamic mathematical model; On this basis, the complete flight control systemhardware and software design, component selection, hardware circuit design,system software design. Second, establish a perfect four-rotor aircraft flight control system platform will help further expand the four-rotor aircraft flightnavigation and control algorithms and control systems development for the futureto further study the new multi-purpose development to meet the differentconditions UAV lay a solid foundation. Finally, the four-rotor aircraft flight testsverified the feasibility of Kalman filtering and PID controller algorithm.
Development of 'ERAU Raven' Quad-Rotor System for the International Aerial Robotics Competition 2012
Tim Zuercher, Gene Gamble, Mohammad Ramli, Christopher Kennedy
Embry-Riddle Aeronautical University
Daytona Beach, FL USA
The Embry-Riddle Aeronautical University (ERAU) IARC team presents the ERAU Raven system as a candidate for completing the 6th Mission of IARC. The RAVEN Quad-Rotor was custom designed to meet the requirements of the IARC mission and was fabricated using additive manufacturing technology. The vehicle combines carefully-selected guidance, control and mission sensors and powerful on-board processing to autonomously navigate through close-quarters environments. Custom algorithms have been developed to enable the system to navigate in an indoor environment, avoid obstacles, evade threats, and retrieve a flash drive containing important information.
Dronolab 2012 technical paper on UAV design for indoor flight for the 22nd annual IARC competition
Guillaume Charland-Arcand, Nicola Pedneault-Plourde, Mourad Dendane, Jeff Grenier, Guillaume Dorion-Racine, Pascal Chiva-Bernard, Mukandila Mukandila
École de technologie supérieure (ÉTS)
Montreal, Canada
This paper presents Dronolab's unmanned aerial vehicle (UAV) design for the 22nd Annual International Aerial Robotics Competition (AIRC) organised by the AUVSI. It presents the many challenges of UAV exploration with no Global Positioning System (GPS). Dronolab's solution is based on a structured light 3D scanner which returns spatial information that is processed to detect features of interest. A Kalman filter then fuses visual odometry data with the inertial navigation system (INS) to calculate an estimation of the UAV's position. Robust adaptive backstepping control is then used to control all 6 degrees of freedom of the UAV to track desired trajectory calculated by a mission planner.
Georgia Tech Team Entry for the 2012 AUVSI International Aerial Robotics Competition
Daniel Magree, Dmitry Bershadsky, Xo Wang, Pierre Valdez, Jason Antico, Ryan Coder,Timothy Dyer, Eohan Georgey, Eric N. Johnson
Georgia Institute of Technology
Atlanta, GA USA
This paper describes the details of a Quadrotor Unmanned Aerial Vehicle capable of exploring cluttered indoor areas without relying on any external navigational aids. A Simultaneous Localization and Mapping (SLAM) algorithm is used to fuse information from a laser range sensor, an inertial measurement unit, and an altitude sonar to provide relative position, velocity, and attitude information. A wall avoidance and guidance system is implemented to ensure that the vehicle explores maximum indoor area. A model reference adaptive control architecture is used to ensure stability and mitigation of uncertainties. Finally, an object detection system is implemented to identify target objects for retrieval.
Technical Layout of Harbin Engineering University UAV for the International Aerial Robotics Competition
Feng Guo, Peiji Wang, China Yuan Yin, Xiaoyan Zheng, Rui Sun
Harbin Engineering University
Heilongjiang, China
This paper briefly describe the technical layout of HEU (Harbin Engineering University) UAV for IARC, the UAV consists 4 parts, the first is the basic flying vehicle, a specialized quadcopter which can provide lift and basic platforms for equipment; the second part is a two camera system for ranging and image recognition; the third part is an auto-pilot system based on the quadcopter, designed for stabilizing, control and communicate with ground control station; the forth part is a ground control station which runs at a laptop, the functions are process the imagine files and send control orders to UAV.
Autonomous Navigation in GPS Denied Indoor Environment Using RGBD Sensor, Kinect
Vihari Piratla, Suraj B Malode, Sachin Kumar Saini, Anurag Jakhotia, Anil K Sao, Bharat Singh Rajpurohit, Genemala Haobijam
Indian Institute of Technology
Mandi, India
This paper describes the autonomous quadrotor designed at IIT Mandi for participation in International Aerial Robotics Competition (IARC) 6th mission, capable of autonomous navigation in a GPS denied and cluttered indoor environment. A distributed nodal architecture is implemented using RGBD sensor, sonar sensors and a camera with Simultaneous Localization and Mapping (SLAM) algorithm to map the environment. A system of hierarchical visual odometry algorithms are fused with IMU (Inertial Measurement Unit) using EKF (Extended Kalman Filter) is implemented to ensure globally consistent localization, navigation and exploration of the environment. The secondary sensor suite along with obstacle avoidance algorithm ensures real-time path planning and pattern recognition.
Northwestern Polytechnical University Team Entry for the 2012 AUVSI International Aerial Robotics Competition
Fei Liu, Yinan Sang, Jie He, Jie Chen, Jie Fan, Ruichao Li, Haoyu Li
Northwestern Polytechnical University
Xi'an, China
The Icarus-UAV project stresses on building an autonomous air vehicle in confined environment with relatively low cost and simple structure. The vehicle is based on a 4-rotor flight, with an FPGA as the central processing unit and transfers all necessary data to the remote workstation. The vehicle plays a role as a data collector and command executor thus avoiding extra computation unit for the vehicle. A SLAM algorithm is used for navigation with the help of Laser-3D environment remodeling unit. A smart coding pattern enables the Icarus-UAV team to program at a more abstract level for specific mission. These features enable the Icarus-UAV to execute the 6th mission of the International Aerial Robotics Competition.
Micro Air Vehicles' Motion Estimation and Autonomous Navigation in Indoor Environment without GPS
Gao Yueshan, Guo Li, Duan Wenbo
Nanjing University of Aeronautics & Astronautics
Nanjing, China
This paper presents a solution of MAV autonomous navigation in unknown indoor environments without GPS signals. We have designed a quad-rotor aircraft. The quad-rotor aircraft's motion is estimated by a variety of on-board sensors, and environments are sensing by fusing measurement data of visual sensors and laser scanning radar. The architecture of whole solution is detailed, and related algorithms are introduced. The experiment results show that our quad-rotor aircraft can autonomously navigate in unknown indoor environment without GPS signals, and finish the appointed tasks.
Oregon State University Autonomous Aerial Robotics Team
Daniel Miller, Kyle Dillon,Tim Niedermeyer, Ryan Skeele, Michael Williams, Soo-Hyun Yoo
Oregon State University
Corvallis, OR USA
The Oregon State University Autonomous Aerial Robotics Team has developed an indoor autonomous quadrotor with custom hardware and software to compete in the International Aerial Robotics Competition (IARC). Onboard, an ATX mega 128a3 microcontroller runs a 200Hz PD orientation controller. The quadrotor is capable of sending live video, LIDAR scans, and altitude measurements to the base station which passes navigational commands back to the quadrotor. The quadrotor possesses a passively compliant robotic hand that will be used to pick up the USB flash drive in the competition.
Object Retrieval from Secure Unknown Interior Spaces Using Autonomous Unmanned Aerial Vehicles
John LeVous, Julie Hoven, Victor Habgood, Abdulrahman Alotaibi, Brandon Ordway, Garibe Mohammed-Jones, Haole Guo,
Old Dominion University
Norfolk, VA USA
This paper describes an autonomous unmanned aerial vehicle (UAV) designed to participate in the 23rd annual International Aerial Robotics Competition. The UAV is equipped with onboard sensors and a Harvard architecture 8-bit RISC microcontroller to monitor and locally control its flight telemetry. Additional sensors (and an additional microcontroller) are used for detecting and mapping of structural and environmental objects while the UAV is in flight. The microcontrollers are interfaced with wireless communication modules for transmitting flight telemetry and structural/environmental data to a ground control station that sends the UAV command and control signals required for the mission objectives. The UAV platform is built upon a quad-rotor helicopter (quad-copter) design that utilizes open-sourced hardware and software, and is equipped with hobby grade sensors, actuators, vision systems, and wireless communication components thereby reducing the cost of UAV research by an order of magnitude.
A Low Cost Indoor Aerial Robot with Passive Stabilization and Structured Light Navigation
Frank Manning, Christopher Miller, Tim Worden
Pima Community College
Tucson, AZ USA
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. The balloon also doubles as a radome and encloses a large directional antenna. 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 Developed by Southern Polytechnic State University to Compete in the 2012 International Aerial Robotics Competition
David Haffner, Sean O'Callaghan, Charles Pagano, Nick Schulz
Southern Polytechnic State University
Marietta, GA USA
For the 2012 International Aerial Robotics Competition, the Southern Polytechnic State University Aerial Robotics Team has developed a quadrotor aerial vehicle capable of fast and efficient navigation through an indoor environment barred from GPS access. The custom-manufactured quadrotor uses sonar, lasers, and visual recognition to collect data about its environment and uses this information to build a map of the area.
Tsinghua Team Entry for the 2012 AUVSI International Aerial Robotics Competition
Yipeng LI, Yuwang WANG, Weining LU, Yixuan ZHANG, Haoyin ZHOU, Bin YAN
Tsinghua University
Beijing, China
This paper describes the technical details of a Quadrotor system capable of exploring unstructured indoor environment, detecting and replacing a specific USB flash disk, without relying on any external navigation aids. A Gmapping Simultaneous Localization and Mapping (SLAM) algorithm fused with various onboard sensor data is used to provide relative position, velocity and altitude of the vehicle. Two visible light cameras are mounted on the vehicle, the frontward one is used to detect the target room, and the downward one is responsible for USB disk identification with a simple manipulator to replace it. A DH-Bug path planning algorithm is introduced to help the vehicle implementing obstacle avoidance. Moreover, we design elaborate control architecture to ensure the stability and mitigation of vehicle uncertainties. This Quadrotor is designed to be Tsinghua Aerial Robotic Team's entry for the 2012 International Aerial Robotics Competition.
Autonomous Quadrotor for the 2012 International Aerial Robotics Competition
Daniel Ellis, Thomas Brady, Isaac Olson, Yiying Li
University of Michigan
Ann Arbor, MI USA
The Michigan Autonomous Aerial Vehicles team (MAAV) will compete in the 2012 International Aerial Robotics Competition (IARC) with a custom quadrotor Unmanned Aerial Vehicle (UAV). This vehicle is capable of autonomous, covert entry into, and navigation throughout, an unknown building using Simultaneous Localization and Mapping (SLAM) algorithms. Using image recognition, the vehicle is able to recognize posted Arabic signs and a flash drive. A magnetic retrieval mechanism collects the flash drive while simultaneously dropping off a decoy. The entire mission will be completed in the allotted ten minute time frame.
Unmanned Aerial Vehicle for Autonomous Navigation In Cluttered Indoor Invironments
Niraj Kumar, Vasu Agarwal, Divya Dhawan, Yash Agarwal, Ayush Trivedi, Amandeep Singh, Nikhil Jain, R.D. Roychoudhury, Andra Aditya, Mohit Jain
University of Petroleum and Energy Studies
This paper describes a four rotor vertical-take-off-and-landing unmanned aerial vehicle, commonly known as a Quadrotor, designed for objective completion in an urban environment. The assumptions, proposed design and project methodology is described in detail.
Beohawk: Autonomous Quadrotor
Ryan Goldstein, Keith McKay, Yujia Zhai, Russel Stewart, Arti Hira, Christopher Li, Reese Mozer, Divakar Singamsetty
University of Southern California
Los Angeles, CA USA
In this paper we introduce a Micro UAV system that can explore an unknown indoor space without the assistance of GPS in order to compete in the 6th IARC mission. The robot receives sensor measurements from cameras, sonar, accelerometers, gy-roscopes and an infrared depth sensor. Using Simultaneous Localization and Mapping, it handles the data probabilistically and generates a map of the environment, which is used for avoiding obstacles and generating waypoints. The mechanical construction of the vehicle, low-level control, and sensor communication are also discussed in the paper.
ZJU's Micro-Aerial Robotics Team (ZMART) Technical Report
ZHU Jiangcheng, XU Chao
Zhejiang University
Hangzhou, Zhejiang, China
The Zhejiang University Micro-Aerial Robotics Team (ZMART) has prepared to participate in the 2012 International Aerial Robotics Competition (IARC). Our team aims to demonstrate autonomous exploring and operation in an unknown indoor environment. The basics ystem architecture consists of a quadrotor helicopter platform, control units, different kinds of sensors, communication modules and a base station. The hardware structure, as well as the algorithm structure, will be introduced in this paper.
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