PatrolDrone

PatrolDrone
Short Description:	The goal of the project is to develop a drone able to patrol an indoor ambient to search por intruders
Coordinator:	AndreaBonarini (andrea.bonarini@polimi.it)
Tutor:	AndreaBonarini (andrea.bonarini@polimi.it)
Collaborator:
Students:	DanieleIasella (daniele.iasella@mail.polimi.it), StefanoFossati (stefanofossati.86@gmail.com)
Research Area:	Robotics
Research Topic:	Robot development
Start:	24/10/2012
Status:	Active
Level:	Ms

Goal

The goal of this project is to develop an application for a quadrocopter able to patrol a closed environment.

Motivation

Environment reconstruction and exploration with limited sensoring capacity (monocular view, altitude sensor, gyroscope) using the low cost quadrocopter AR drone 2.0

Useful readings

SLAM

• SLAM [1]

• EKF [2]

• PTAM [3]

Navigation

Indoor Navigation

• Indoor Navigation with laser Scanners [4]
• Depth Camera Localization and Navigation [5]
• BIM Based Navigation [6]
• Visibility of Poin Clouds and Exploratory Path Planning in Unknown environment [7]

ROS packages

• ardrone driver [8]
• ardrone PTAM and EKF wrapper [9]
• Point Cloud Library bridge [10]