PatrolDrone

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Revision as of 12:10, 7 May 2013 by DanieleIasella (Talk | contribs) (Goal)

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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 aim of the project is to develop an architecture for indoor autonomous exploration, including door and hole detection ability.

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]