Sixth Symposium on Indoor Flight Issues

The 2014 Symposium on Indoor Flight Issues was held during August 2014 at the American Venue in Atlanta, Georgia, USA, and in a parallel session in Yantai, China. Links to the .pdf versions of the Symposium papers are provided below:
Comb Studio's Autonomous Aircraft for the IARC 2014
Xiang He, Dongze Huang, Jinpeng Yang, Yun Sang, Qi Wu, Kun Yan, Dongyao Zhang, Qing Lin
Beihang University
Beijing, China
This paper describes the details of an autonomous aircraft capable of exploring cluttered indoor areas and interacting with objects in the environment without relying on external navigational aids. An integrated visual navigation method providing relative position, velocity, and attitude information is introduced. Multi-ground-objects are detected by HOG-Based SVM. The mission planning section applies the velocity-obstacle method to program the vehicle to drive ten ground robots to a set sideline. The vehicle is intended to be Beihang University Comb Studio's entry for the International Aerial Robotics Competition in 2014.
Systems for Flight in Confined Areas for the International Aerial Robotics Competition
Michael Acevedo, Dvin Armin, Xavier Buelna, Carlos Morales, Benjamin Nunez, Christopher Pineda, Manuel Rodriguez, Alberto Rojas, Aramik Yousefian, Ronald Mehler
California State University - Northridge
Northridge, California, United States
Confined areas present a problem for flight systems and controls. The main concern is the margin of error for adjusting to obstacles in confined environments. Therefore, an implementation of a UAV could be a hexacopter with a specific sensor suite that avoids threats and identifies objects of possible interaction. In this case, the mission specifies that the UAV must accomplish tasks without obstacle interference. Specific problems and solutions will be identified and discussed in this paper.
CAUC’s Aerial Robot for IARC 2014
Zhang Yunhao, Zhao Long, Shi Yongzheng, Jiang Nan, Huo Lu
Civil Aviation University of China
Tianjin, Shandong, China
To complete the 7th 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. The vehicle is intended to be Civil Aviation University of China’s entry for the 2014 International Aerial Robotics Competition.
TEAM AERO-I Journal Paper for IARC 2014
Delhi Technological University
New Delhi, Delhi, India
The paper gives prominence to the technical details of the Unmanned Aerial Vehicle developed by the students of Delhi Technological University, India, which can navigate in indoor environments without the use of any external aid. RUDRA, is designed to give a reliable autonomous flight by incorporating image acquisition and processing along with a commercial available autopilot. The vehicle communicates with the ground station to provide a real time picture of the quad rotor’s view for a safe and an unfailing flight.
First Steps Towards Developing an Autonomous Quadrotor for Mission 7 of the 2014 International Aerial Robotics Competition
École Polytechnique de Montréal
Montréal, Quebec, Canada
Although remote controlled piloting of multi-rotor vehicles has become prevalent and largely accessible to the general public and research institutions, these systems are largely dependent on manual control and external navigation aids such as GPS, high speed motion capture systems and SLAM algorithms relying on walls as a reference point. Team Elikos from Polytechnique Montréal presents the first steps towards solving mission 7a of the International Aerial Robotics Competition including design, development methodology and results. Through rapid prototyping using off-the-shelf components, theoretical analysis and experimental data, we demonstrate a partial solution wherein our quadrotor is capable of autonomous takeoff, position control by optical flow and computer vision of the arena.
Squadron-II UAV technical paper for International Aerial Robotics Competition
R.S. Kumar, C. Aasish, Cyril Anthony, Prasanna Linci, Razeen Ridhwan
Hindustan University
Chennai, Tamil Nadu, India
The Team Recon from India present an indigenously developed Squadron 2 an autonomous quadcopter designed for the 7th mission of the AUVSI International Aerial Robotics Competition(IARC). This paper decribes the technical details of a quadrotor system to be used as an aerial robot for interaction with ground robots and demonstrate the mission requirements. The Squadron 2 exhibits the required behaviors of autonomous flight for interaction with multiple objects on ground to recognize, track and navigate in a sterile environment with no external navigational aids.The objective would be achieved using SURF algorithm running on ARM Processor with depth camera. Autonomous navigation is done by using optical flow with higher resolution and is also used for ground robot rcognition and boundary scanning. The instant sensing by aerial robots and interaction between aerial and ground robots would be achieved - by depth sensor and a custom developed ANN and through the use of effective path based algorithms; also avoid interaction by competing multiple aerial robots but interact only on priority basis.
HKUST IARC Team Progress Report
Yang Shuo, Yu Yun, ZHOU Zi, Ying Jiahang, Liu Wenxin, Wang Mingxi
Hong Kong University of Science and Technology
Kowloon, Hong Kong
This paper reports the current preparation progress of HKUST IARC Team. We treat Mission 7 as a final destination on a big road map. To achieve this final goal we must first solve some smaller problems including iRobot tracking, obstacle avoidance, localization without landmarks and so on. After these problems are solved, proper integration is needed to make the final system. At the beginning stage, we focus on solving iRobot tracking and UAV localization subproblems. We devise algorithms that use five cameras to do the tracking and localization work. Preliminary results showed the robustness of our algorithms.
Autonomous Flight Control in Micro Air Vehicles International Aerial Robotics Competition 2014
Abdul Ahad Pakbaz, Mohammad Baset Dorazehi, Naser Nosratieh
Islamic Azad University - Saravan Branch
Saravan, Iran
Recently there has been increasing research on the devel-opment of autonomous flying vehicles. Whereas most of the proposed approaches are suitable for outdoor operation, only a few techniques have been designed for indoor environments. In this paper we present a navigation system for an indoor quadrotor. Our system adapt tech-niques which have been successfully applied on ground robots to our flying platform. We validate our system with real-world experiments.
Unmanned Quadrotor Helicopter of NUAA for 2014 International Aerial Robotics Competition
Sun Yili, Wang Shuo, Jia Sen, Xue Liang, Wu Saifei
Nanjing University of Aeronautics and Astronautics
Nanjing, Jiangsu, China
The Nanjing University of Aeronautics and Astronautics team designs and develops an unmanned quadrotor helicopter to complete the seventh IARC mission. The unmanned quadrotor helicopter is designed to autonomously fly in the arena without GPS, interacting with the ground robots, and sensing and avoiding the presence of moving special ground robots. ArduPilotMega (APM), which is a full-featured multicopter UAV controller, is used as the flight control system of quadrotor helicopter. In the case without GPS, orientation and navigation of the quadrotor helicopter is based on vision, through catching and tracing the ground robots and the lines of the arena. Besides, to herd the ground robots toward the green side of the arena such that as many as possible cross over the green line in the shortest amount of time, optimization control algorithm is used to quadrotor helicopter.
Naval Aeronautical and Astronautical Institute Team Entry for the 2014 AUVSI International Aerial Robotics Competition
Qi Yahui, Wu Xiuzheng, Yan Shi
Naval Aeronautical and Astronautical University
Yantai, Shandong, China
This paper describes the details of an autonomous aircraft capable of navigating in a sterile environment with no external navigation aids such as GPS or large stationary points of reference such as walls and interacting with autonomous ground robots. The vehicle localizes itself by the downward-looking camera and optical flow, stabilizes its attitude (pitch, roll and yaw) and altitude using PID controllers. The vehicle identifies the autonomous ground robots by the forward-looking camera and avoids obstacle ground robots by setting the area near the paths of obstacle ground robots as hazardous area. The vehicle is intended to be Naval Aeronautical Engineering Institution’s entry for the International Aerial Robotics Competition in 2014.
Northeastern University Autonomous Aerial Robotics Team
Yuchao Hu, Jianyu Yang, Yuanning Cao, Fengshuai Yang, Bo Shang
Northeastern University
Shenyang, Liaoning, China
In order to complete the IARC competition tasks, Northeastern University autonomous aerial robotics team has developed an indoor autonomous quadcopter system based on the famous AR.Drone system. The aircraft carries an APM autopilot to mitigate the geomagnetic problem of the original system. A lightweight laser scanner is deployed on the top of the airframe to avoid obstacles. The camera is modified to face down as an optical flow sensor. This quadcopter can send videos, 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 the aircraft.
Intelligent Sensing based on Low-Cost Unmanned Aerial Vehicles (UAV) for Bridge Condition Assessment
Theodore Teates, Austin Boyd,, Dr. Chung-Hao Chen
Old Dominion University
Norfolk, Virginia
The eventual completion of this project envisions the use of an Unmanned Aerial Vehicle (UAV) to inspect bridge infrastructure. This project may also be expanded to encompass general object detection and inspection in order to unburden this technology so that it may reach its fullest potential. The project requires research and development in three distinct areas of image processing, control structures, and integration of systems. Initial undergraduate research sets the base knowledge for the overall project, explores the areas of concentration that are desired to expand upon in the future project, and provides a base UAV model that new researchers can easily understand and expand upon. The undergraduate research starts from baseline knowledge gained from previous students, organizes their work, and develops their research into a more workable design. The immediate application of this research will be a competition in August of 2014 where the UAVs potential can be measured against other designs. This will also be a learning experience to help improve the current UAV design.
Oregon State University Autonomous Aerial Robotics Team 2014 International Aerial Robotics Competition
Kyle Cesare, Soo-Hyun Yoo, Ryan McAfee, Nathan Brahmstadt, Evan Gonnerman, Teddy Duchow-Pressley, Tim Coumes
Oregon State University
Corvallis, Oregon, United States
The Oregon State University Aerial Robotics Team will compete in the 2014 International Aerial Robotics Competition with a custom quadrotor based on our 2013 design. Our robot will be capable of locating and tagging mobile ground robots for a sustained duration of 10 minutes in an unspecified indoor environment. A custom flight control board built around a 32-bit STM32F405 microcontroller allows for a 1 kHz flight stabilization and control loop. We will use a PX4Flow camera to localize the robot within the arena and a wide-angled camera, such as a GoPro, to target ground robots. An array of rare earth magnets mounted below the vehicle will be used to trigger the magnetic influence sensors aboard the ground vehicles.
An Indoor Aerial Robot for Herding Ground Robots
Frank Manning, Yanitzin Todd, Tim Worden
Pima Community College
Tucson, Arizona, United States
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 herd a group of 10 ground robots while avoiding collisions with a second group of 4 obstacle robots. All 14 ground-based robots are themselves autonomous and move according to their own internal algorithms, including responses to external collisions and magnetic fields. The air vehicle is designed to use machine vision as well as lidar and sonar scanning to sense the positions of ground robots, and to navigate relative to a 20 m x 20 m arena. The arena is marked with a known grid pattern.
Multi-rotor aircraft developed by Southern Polytechnic State University to Compete in the 2014 International Aerial Robotics Competition
David Haffner, Michael Doherty, Nick Schulz, Brandon Hopewell
Southern Polytechnic State University
Marietta, Georgia, United States
For Mission 7 of the International Aerial Robotics Competition, the Southern Polytechnic State University Aerial Robotics Team has developed a multi-rotor aerial vehicle capable of stable interest-based autonomous flight. Using its onboard sensor array, the multi-rotor can locate and interact with other robotic vehicles in order to accomplish the objective. Additionally, the robust 3D-printed design allows the multirotor to safely withstand collisions with obstacles and other aerial vehicles encountered during the mission.
Autonomous Quadrotor for the 2014 International Aerial Robotics Competition
Yongseng Ng, Keekiat Chua, Chengkhoon Tan, Weixiong Shi, Chautiong Yeo, Yunfa Hon
Temasek University
This paper describe the technical details of an autonomous quadrotor developed by Temasek Polytechnic robotics and automation team(TPRAC) to take part in 2014 International Aerial Robotics Competition(IARC). The unmanned aerial vehicle(UAV) is capable of autonomous navigation in an indoor environment without the help of GPS or large external physical point of reference. It can also demonstrate target identification of static and moving objects at airborne. Using sensors, controllers and mechanical system from current technology, we put together an UAV with the aim of fulfilling the tasks required of competition.
A Vision Based Aerial Robot solution for the IARC 2014 by the Technical University of Madrid
J. Pestana, J. L. Sanchez-Lopez, R. Suarez-Fernandez, J.-F. Collumeau, P. Campoy, J. Martin-Cristobal, M. Molina, J. De Lope, D. Maravall
Universidad Politécnica de Madrid
Madrid, Spain
The IARC competitions aim at making the state of the art in UAV progress. The 2014 challenge deals mainly with GPS/Laser denied navigation, Robot-Robot interaction and Obstacle avoidance in the setting of a ground robot herding problem. We present in this paper a drone which will take part in this competition. The platform and hardware it is composed of and the software we designed are introduced. This software has three main components: the visual information acquisition, the mapping algorithm and the Aritificial Intelligence mission planner. A statement of the safety measures integrated in the drone and of our efforts to ensure field testing in conditions as close as possible to the challenge’s is also included.
MultiObject Tracking in Indoor Flight Environments
Mark Boutwell, Logan Camacho, Michael Lin, Albin Mathew, Pierce Mooney, Michael “Jamie” Schnaitter, Chang Ching Wu
University of Central Florida
Orlando, Florida, United States
This paper details the development and construction of a quadrotor unmanned aerial vehicle that is capable of tracking and guiding multiple randomly moving ground vehicles to the designated location. The University of Central Florida’s autonomous vehicle VINCENT was designed to compete in the 7th Mission of the International Aerial Robotics Competition. VINCENT utilizes computer vision, optical flow analysis, and priority assignment programming in order to operate fully autonomously for the duration of its flight.
Autonomous Quadrotor for the 2014 International Aerial Robotics Competition
José Gomez, Alec Ten Harmsel
University of Michigan
Ann Arbor, Michigan, United States
While flight vehicles have become pervasive in today’s society, they remain technologically restricted to using GPS for navigating open areas. Vehicles capable of flying in open environments without relying on GPS will pave the way toward redefining currently outdated and expensive methods of structural inspection, search and rescue, and law enforcement operations that often take place in areas with limited GPS availibility. Michigan Autonomous Aerial Vehicles (MAAV) designs and builds lightweight quadrotor unmanned aerial vehicles (UAV) capable of stable, autonomous flight without GPS. MAAV’s vehicle will compete in the 2014 International Aerial Robotics Competition (IARC) where it will demonstrate its ability to autonomously manage a herd of ground vehicles in an open environment. Using a combination of control, computer vision, and path planning algorithms, it will herd ground robots over the goal line in the required time.
Interactive Behaviors between an Aerial Robot and Ground Robots
Ji’an Luo, Kun Yang, Lican Wang, Haining Wang, Yueshi Chen, Honghua Xu
Xiamen University
Xiamen, Fujian, China
This paper is aimed at the 7th mission of International Aerial Robotics Competition. Firstly, Interactive behavior between aerial robot and mobile object (actually the ground robot); secondly, the navigation in an open surrounding. In this environment, there is no other navigation, static point, like GPS or wall; finally, compete with other aerial robot. According to the mission, a quad-rotor with stable attitude and good maneuverability will be a good choice as the aerial robot for the competition. Based on the commercial technology, vision navigation can be the quad-rotor’s navigation. Single-eye vision distinguish and calculate, to program a best navigating commendation, and then guide the aerial robot move in the field, seek for the ground robot and dodge the barriers in the meantime, and finally guide the ground robot to the green line of the field, finishing the mission.
ZMART Technical Report
Tao Han, Jiangcheng Zhu
Zhejiang University
Hangzhou, Zhejiang, China
The Zhejiang University Micro-Aerial Robotics Team (ZMART) has prepared to participate the 2014 International Aerial Robotics Competition (IARC). Our team aims to demonstrate interaction with one moving object while autonomously navigating in an sterile open environment. The basic system structure consists of a quadrotor helicopter platform, micro processor, control units, different kinds of sensors, communication module, a RC controller and a base station. The hardware structure, as well as the algorithm structure, will be introduced in this report.
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