PatrolDrone

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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

Navigation

  • Indoor Navigation with Laser Scanners [4]
  • Depth Camera Localization and Navigation [5]
  • BIM Based Navigation [6]
  • Visibility of Point 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]