Fifth Symposium on Indoor Flight Issues

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2013
The 2013 Symposium on Indoor Flight Issues was held during August 2013 at the American Venue in Grand Forks, North Dakota USA, and in a parallel session in Beijing, China. Links to the .pdf versions of the Symposium papers are provided below:
THRONE Team Entry for the 2013 AUVSI International Aerial Robotics Competition
Yipeng LI, Yuwang WANG, Weining LU, Yixuan ZHANG, Haoyin ZHOU, Bin YAN
Tsinghua University
Beijing, China
Abstract:
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. Two alternative path planning methods are 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 2013 International Aerial Robotics Competition.
Autonomous Quadrotor for the 2013 International Aerial Robotics Competition
Isaac Olson, Jonathan Bendes
University of Michigan
Ann Arbor, MI USA
Abstract:
While flight vehicles have become pervasive in today's society, they remain technologically restricted to unpopulated, open-air settings. Vehicles that specialize in safe flight through confined, obstacle-ridden environments will pave the way toward redefining currently outdated and expensive methods of structural inspection, search and rescue, and law enforcement operations. Michigan Autonomous Aerial Vehicles (MAAV) designs and builds lightweight quadrotor unmanned aerial vehicles (UAV) capable of stable, confined-space flight. MAAV's vehicle will compete in the 2013 International Aerial Robotics Competition (IARC) where it will demonstrate its ability to autonomously enter into, and navigate throughout an unknown building. Using a combination of control, computer vision, Simultaneous Localization and Mapping (SLAM), and path planning algorithms, it will locate and retrieve a target flash drive, deploy a decoy flash drive and exit the compound within the allotted 10 minute time frame.
Comb Studio's Autonomous Aircraft for the IARC 2013
Huiyao WU, Meng CHEN, Dongze HUANG, Xiang HE , Yun SANG, Jinpeng YANG, Qin Lin
Beihang University
Beijing China
Abstract:
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 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 2013.
Autonomous Unmanned Micro Aerial Vehicles for Reconnaissance
Pratik Sen, Vivek Radhakrishnan, Abishek Krishnamoorthy, Aman Jotwani,Nitish Anand, Vishank Bhatia, Dr. R.K Mittal
Birla Institute of Technology and Science, Pilani-Dubai Campus
Dubai, UAE
Abstract:
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 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. In this iteration of the IFOR system a subsidiary child robot is slaved to the IFOR robot which will serve as a mobile sensory and manoeuver platform for the entire system. The drone will allow the entire system greater flexibility in terms of overall decisions available to the robot.
Autonomous Quadrotor for the 2013 International Aerial Robotics Competition
Hengyu "Robbie" Hu, John Rafael Aleman Pericon, Han-Wei "Bill" Chen, Andy Mo, Lu Quan Tan, Hsiang-Wei "Kevin" Ma
Boston University
Boston, MA USA
Abstract:
The Boston University Unmanned Aerial Vehicles Team (BU UAV TEAM) will compete in the 2013 International Aerial Robotics Competition (IARC) with a custom built quadrotor that is capable of traversing through narrow corridors of an unknown building using Simultaneous Localization and Mapping (SLAM) algorithms. While exploring, the vehicle uses image recognition program to identify the assistive Arabic signs and the flash drive. Ultimately, a passive retrieval mechanism consist adhesive and magnet secures the flash drive and releases a decoy through mechanical levers. Include returning, all mission shall be completed within ten minute limit.
CAUC's Aerial Robot for IARC 2013
HAO Wei, LI Meng, JIAO Long, YAO Weipeng, LV Jingbo, WANG Yao, JIN Yabo, ZENG Zhengchao
Civil Aviation University of China
Tianjin, China
Abstract:
To complete the 6th mission of the International Aerial Robotics Competition, a quadrotor aircraft consisting of flight control system and navigation system is designed. The flight control system is composed of a main chip and some sensors, and the traditional PID algorithm is used to control the attitude. The navigation system is composed of a small computer and some sensors, and a navigation method based on finite-state rough set theory is proposed. The whole mission is separated using the finite-state machine model to get the state transition diagram, then rough set theory is used to reduce the properties, and a minimal rule set is achieved. Finally, a program based on the minimal rule set is executed. The vehicle is intended to be Civil Aviation University of China’s entry for the 2013 International Aerial Robotics Competition.
Dronolab 2013 technical paper on UAV design for indoor flight
Charles Brunelle, Alexandru Jora, Emile Abou Nasr, Guillaume Charland-Arcand, Nicola Pedneault-Plourde, Mourad Dendane, Jeff Grenier, Guillaume Dorion-Racine, Pascal Chiva-Bernard, Mukandila Mukandila
École de Technologie Supérieure (ÉTS) Dronolab Team
Montreal, Canada
Abstract:
This paper presents Dronolab’s unmanned aerial vehicle (UAV) design for the 23nd Annual International Aerial Robotics Competition (IARC) organised by the AUVSI. It presents the many challenges of UAV exploration with no Global Positioning System (GPS). Dronolab’s solution is based on laser rangefinder (Lidar) which, combined with a SLAM algorithm, tracks the position of the vehicle in its environment. A Kalman filter is used to fuse this positioning data with an inertial navigation system (INS) to improve the 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 manager.
Development of 'ERAU Raven II' Quad-Rotor System
Tim Zuercher, Ian Price, Gene Gamble, Mike Surber
Embry-Riddle Aeronautical University
Daytona Beach, FL USA
Abstract:
The Embry-Riddle Aeronautical University (ERAU) team presents the ERAU RAVEN II system as a candidate for completing the 6th Mission of IARC. RAVEN II represents a significantly enhanced incarnation of the RAVEN Quad-rotor from the 2012 IARC. RAVEN II is lighter, more robust, and more capable than its predecessor. The vehicle combines a custom internal circuit board with judiciously-selected guidance, control and mission sensors and powerful on-board processing to autonomously navigate through close-quarters environments. Novel navigation algorithms have been developed to enable the system to maneuver in an indoor environment while avoiding obstacles and evading threats, allowing the vehicle to retrieve a flash drive and deploy a decoy flash drive.
Georgia Tech Team Entry for the 2013 AUVSI International Aerial Robotics Competition
Daniel Magree, Dmitry Bershadsky, Chris Costes, Stephen Haviland, David Sanz, Eric Kimk, Pierre Valdez, Timothy Dyer, 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. 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 semantic guidance algorithm identifies "rooms" and thoroughly explores their interior with an efficient path. Finally, an object detection system is implemented to identify target objects for retrieval and interaction. The vehicle is intended to be Georgia Tech Aerial Robotic Team's entry for the 2013 International Aerial Robotics Competition.
A Quadrotor Micro Aerial Vehicle
Zichao Zhao, Peiji Wang, Haiqiang Yu, Xiaole Yan
Harbin, University
Harbin, Heilongjiang, China
Abstract:
Autonomous flight in a GPS-denied environment, such as indoor environment, is a world class engineering challenge. In this paper, we proposed a fully autonomous indoor flight solution. We designed a quadrotor micro aerial vehicle (QMAV) equipped with laser scanner, ultrasonic, inertial measurement unit (IMU), autopilot and a powerful onboard computer to compete in the 2013 International Aerial Robotics Competition (IARC). This QMAV is able to auto-takeoff, entry into a window, navigate and explore in an unknown GPS-denied building using Simultaneous Localization and Mapping (SLAM) algorithms.
Squadron-xIcop UAV
Dalbir Singh, C. Aasish, R. Lalitha, Cyril Anthony, Rizwan, Abdul Ravuf
Hindustan University
Thanjavur, Tamil Nadu, India
Abstract:
The team Recon presents Squadron-xICop an UAV Quad rotor designed for the 6th Mission of the AUVSI International Aerial Robotics Competition (IARC). This paper describes the details of a Quad-rotor Unmanned Aerial Vehicle capable of exploring the unknown indoor environment without relying on any external navigational aids. Using image recognition Surf algorithm, the vehicle is able to recognize posted Arabic signs and a flash drive. This vehicle is capable of autonomous movement and navigation throughout, an unknown building using Simultaneous Localization and Mapping (SLAM) algorithms. The ultrasonic sensor along with collision avoidance algorithm ensures real-time path planning and pattern recognition.
A Real-time Fast Incremental SLAM Method Using Laser Range Sensor for Indoor Flying
Huang Dongze, Cai Zhihao, Wang Yingxun, He Xiang
Beihang University
Beijing, China
Abstract:
Recently, numerous efficient approaches to simultaneously localization and mapping (SLAM) based on ground robots have been proposed. However, we may encounter difficulties when applying the algorithms to those systems with higher real-time requirements, such as micro aerial vehicles (MAVs). This paper presents a fast and effective solution to SLAM problems, enables a quadrotor to autonomously explore unknown indoor environments. We propose a probabilistic approach to estimate the position. The estimation error is reduced by the evaluation function with a penalty term. Furthermore, Bayesian method is used to update the occupancy probability grid map and provides an effective way to solve sensor uncertainty. Experimental results carried out by using a laser range sensor on a quadrotor platform in indoor environment show that theincremental SLAM strategy has a superior performance.
Naval Aeronautical and Astronautical Institute Team Entry for the 2013 AUVSI International Aerial Robotics Competition
Kang Yuhang, Qiu Yangyang
Naval Aeronautical and Astronautical Institute
Yantai, Shandong, China
Abstract:
This paper describes the details of an autonomous aircraft capable of exploring cluttered indoor areas without relying on external navigational aids. 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. There are two cameras and a manipulator in our aircraft, the front-facing camera is used to avoid some targets, the targets including LED light, laser trip wire label and doorplate can be identified, the downward one is used to identify the flash disk, and then the flash disk is replaced by the manipulator. The vehicle is intended to be Naval Aeronautical Engineering Institution’s entry for the International Aerial Robotics Competition in 2013.
Northeastern University Autonomous Aerial Robotics Team
Yuchao Hu, Jianyu Yang, Bo Shang, Siyang, Liu
Northeastern University
Shenyang, Liaoning, China
Abstract:
In order to complete the IARC competition tasks, Northeastern University autonomous aerial robotics team has developed an indoor autonomous quadcopter by assembling hardware and software. The aircraft carries an APM autopilot, an onboard computer, a camera, a lidar and a device to replace the USB flash drive. This quadcopter can send video, lidar data and altitude data to ground control station(GCS). GCS is responsible for handling the data to generate path-planning data and sent them back to aircraft.
Unmanned Autonomous Object Retrieval
Johnathan Bailey, Austin Boy, Chung-Hao Che, Stephen Dailey, Lisa Henderson, Jeremy Stuart, Christina Williams
Old Dominion University
Norfolk, VA USA
Abstract:
This paper describes the design implementation of a Quadrotor Unmanned Aerial Vehicle (UAV) with the capability of exploring indoor locations without the assistance of external aids. For relative position, the use of a laser range sensor, an optical flow sensor, and sonar sensor combined allows for the vehicle to generate mapping information. With relative position in mind, the vehicle uses vision algorithms to recognize immediate obstacles, sign, and entry ways to allow for quick movement responses and object recognition. A proportional-integral-differentiator controller allows for flight stability and mitigation in the tight confines of the indoor spaces. A mapping algorithm allows for the quick evacuation of the location without interacting with previously detected obstacles and walls. This vehicle is designed and intended for Old Dominion University’s Unmanned Aerial Vehicle Team’s entry for the 2013 International Aerial Robotics Competition.
Autonomous Aerial Robotics Team
Soo-Hyun Yoo, Ryan Skeele, Ryan McAfee, Kyle Cesare, Zach Reyes, Nathan Brahmstadt, Jordan Crane, Nick Haller
Oregon State University
Bend, OR USA
Abstract:
The Oregon State University Aerial Robotics Team will compete in the 2013 International Aerial Robotics Competition with a custom quadrotor capable of autonomous navigation of a previously unexplored, cluttered indoor environment. The quadrotor’s chassis and flight system are optimized for reliable 7-minute flights. A slimmed-down ASUS Xtion Pro Live provides both a depth map and an RGB video feed of the environment for 3D SLAM and object recognition. A custom flight control board built around a 32-bit STM32F405 microcontroller allows for a 1 kHz flight stabilization loop. An array of neodymium magnets on the bottom of the quadrotor will be used to pick up the USB flash drive.
A Low Cost Indoor Aerial Robot with Passive Aerodynamic Stabilization
Frank Manning, Jun Quan
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. 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.
Qatar University First Generation of Autonomous Quadrotor Platform for IARC Competition
Mohammed Mushtaha, Abdullah Zia, Khalid Farid, Esmaeil Alizadeh, Nader Meskin
Qatar University
Doha, Qatar
Abstract:
This paper discusses the design and development of a quad-rotor platform for the International Aerial Robotics Competition (IARC) that is to be held in the summer of 2013. The paper is about the design of a quad-rotor that, in addition to being stable at the time of flight, is able to hover autonomously, recognize and pick objects as per its requirement. A considerable amount of research was done in order to choose methodologies and controlling techniques that would be feasible for the project. A number of achievements have been made, including the design and implementation of different parts of the quad-rotor, such a s the power distribution board, controller board, sensors for attitude and height sensing, and wireless communication setups for remote control over-ride purposes. In addition, a pre-fabricated controller board is experimented on and attempts are made to control the quad-rotor wirelessly through a PC, for the sake of using this methodology as a parallel plan (Plan B) for the competition.
Quadrotor Developed by Southern Polytechnic State University
Michael Doherty, Charles Pagano, Nick Schulz
Southern Polytechnic State University
Marietta, GA USA
Abstract:
For the 2013 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.
University of Central Florida Entry for the 2013 AUVSI Foundation's International Aerial Robotics Competition
Logan Camacho, Karl Ravag, Trent Smith, Chang Ching Wu
University of Central Florida
Oviedo, FL USA
Abstract:
This paper details the development and construction of a quadrotored unmanned aerial vehicle that is capable of navigating and mapping indoor environments when there is little available information about the contents of the structure. The University of Central Florida's autonomous vehicle APUS was designed to compete in the International Aerial Robotics Competition's 6th Mission. APUS utilizes computer vision, optical character recognition, and state-based programming to navigate an unknown compound fully autonomously.
Micro Air Vehicle's Motion Control and Autonomous Navigation Technology in Indoor Environment
Zhijun Bai, Yangfeng Ji, Shenglu Zhou, Dong Liang, Liaoni Wu, Qi Lin
Xiamen University
Xiamen, Fujian, China
Abstract:
This paper presents an autonomous four-rotor aircraft, known as Quad-copter, capable of avoiding obstacle and detecting and replacing the USB flash disk without GPS. Ultrasonic sensor is utilized to fix the flying height, thus the aircraft can fly in a plane. Laser range finder is utilized to create Simultaneous Localization and Mapping (SLAM) and plan route, avoid obstacle according to local map, search and locate door frame or the center of window as temporary target. A visible light camera is mounted on a rotating holder, which has two degrees of freedom rotation, and the holder is located at the base of the vehicle. When the camera is in the horizontal plane it’s utilized to detect the target room without searching the whole building. Finally, the aircraft enters the security chief’s office, locates the flash disk with the camera down, replaces it and flies back. Test shows that the four-rotor aircraft in this paper can fulfill every single mission.
ZJU Team Entry for the 2013 AUVSI International Aerial Robotics Competition
Lin ZHANG, Tianheng KONG, Chen LI, Xiaohuan YU, Zihao SONG
Zhejiang University
Hangzhou, China
Abstract:
This paper introduces the autonomous quadrotor aircraft of the Wing of Yuquan Team of Zhejiang University in detail. Our quadrotor aircraft system is capable of exploring and operating autonomously in unknown indoor environment, moreover seeking out the USB flash disk and replacing it. Firstly, an overview of our quadrotor aircraft system is shown, including the problem statement and our team’s conceptual solutions. Secondly, the basic hardware system of our quadrotor aircraft consists of the air frame, propulsion and lift system, navigation and control boards and various onboard sensors. Thirdly, the most important part of our aircraft - the software system is detailed, including indoor navigation, vision algorithm, control system, path planning algorithm and so on.In the end, the risk reduction measures are also told.
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