2010
Second Symposium on Indoor Flight Issues
The 2010 Symposium on Indoor
Flight Issues was held on 12 August, 2010 on the campus of the University of Puerto Rico in Mayagüez.
Links to the .pdf versions of the Symposium papers are provided below:
Georgia Tech Team
Entry for the 2010 AUVSI International Aerial Robotics Competition
Girish Chowdhary, D. Michael Sobers, Jr., Chintasiddhi
Pravitrax, Claus Christmann, Allen Wu, Hiroyuki Hashimotox, Chester
Ong, Roshan Kalghatgik, Eric N. Johnson
Georgia Institute of Technology
Atlanta, Georgia
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. An elaborate Simultaneous Localization
and Mapping (SLAM) algorithm is used to fuse infor-mation from a laser
range sensor, an inertial measurement unit, and an altitude sonar to
provide relative position, velocity, and attitude information. A wall-following
guidance rule is implemented to ensure that the vehicle explores maximum
indoor area in a reasonable amount of time. A model reference adaptive
control architecture is used to ensure stability and mitigation of
uncertainties. The vehicle is intended to be Georgia Tech Aerial Robotic
Team's entry for the 2010 International Aerial Robotics Competition.
Development of a Monocopter for Exploration of GPS-Denied Indoor Environments
Christopher Hockley, Michael King, Rajan Khatri, Christopher Kirby, Christopher Sammet, Michael Bakula, Dr. Charles Reinholtz
Embry-Riddle Aeronautical University
Daytona Beach, Florida
ABSTRACT
Embry-Riddle Aeronautical University (ERAU) has developed SamarEye, a
novel Autonomous Aerial System (AAS), to compete in the 2010 International
Aerial Robotics Competition (IARC). Responding to the challenges associated
with flight in Closed Quarter Environments (CQE), the SamarEye has
evolved significantly from the system entered in the 2009 IARC. The
latest version of SamarEye incorporates a field programmable gate array
(FPGA), a lightweight, high-speed line-scan camera, and simple robust
behaviors in a compact, cost-effective package. The samara-based air
vehicle embodies simplicity, low weight, and elegant aerodynamic design
in an operationally capable CQE platform.
Design and Development of South Dakota
School of Minesand Technology's Aerial Robotic Reconnaissance System
Raunaq Bhushan, Toby Hullinger, Brian Jensen, Erik Kaitfors, Andrew
Mcguire, Jefferson Olsen, Jacob Oursland, Jamie Vickery
South Dakota School of Mines and Technology Unmanned Aerial Vehicle Team
Rapid City, South Dakota
ABSTRACT
The South Dakota School of Minesand Technology Unmanned Aerial Vehicle
(SDSM&TUAV)Team will participate in the 2010 International Aerial
Robotics Competition (IARC)with a single quadrotor helicopter. The vehicle
has been designed to autonomously locate and enter a one square meter
opening, traverse a series of obstacles to obtain and replace a USB
flash drive with a mechanical arm actuated by a servo. This is to be
done with in ten minutes while avoiding detection formed evices such
as cameras and laser barriers. To achieve the desired level of autonomy,
a monocular Graph Simultaneous Localization and Mapping (SLAM) algorithm
along with the vehicle's attitude estimation will provide estimates of
the vehicle's location as well as a map of the environment. Communications
between an onboard embedded computer and an operator control unit meet
IARC Joint Architecture for Unmanned Systems (JAUS) compliance.
Object Recognition
and Retrieval Using an Autonomous Indoor Aerial Vehicle
Torben Rasmussen and Joey Tomlinson
Robotics Club Oregon State University
Corvallis, Oregon
Oregon State University Corvallis, Oregon.
ABSTRACT
The 6th mission of the International Aerial Robotics Competition picks
up where the 5th left off, challenging teams to perform more complex
navigation and object manipulation tasks using autonomous aerial robots.
The 6th mission’s competition arena is a security complex with an office
that contains a USB flash drive which holds sensitive information.
This paper describes our quad rotor platform which is designed to autonomously
navigate the building and retrieve the flash drive. The platform accomplishes
this task using inertial sensors, a LIDAR sensor, and a camera. Platform
stability is controlled using PID algorithms which run on an embedded
8 bit microcontroller and use inertial data to maintain pitch, roll,
and yaw. Navigation is accomplished using SLAM algorithms. Recognition
of the flash drive is done using image recognition software developed
using the OpenCV computer vision libraries. This autonomous platform
caries a magnetic flash drive retrieval and replacement system.
Development
of an autonomous aerial vehicle using Laser range finder
C. Raviteja, A. Ravikanth, R. Pranay, T. Anish, R. Girish, Kedar
Kulkarni, S. Sriseshan, P. Celestine, Aditya Bharadwaj
Indian Institute of Technology -- Madras
ABSTRACT
Team Swift of the Indian Institute of Technology--Madras is participating
in the 20th edition of the International Aerial Robotics Competition
conducted by the Association for Unmanned Vehicle Systems International.
The complete problem statement is that the robot has to search an indoor
arena for a pen drive kept in a box, acquire the original pen drive,
replace it with a fake one and bring back the original one. The vehicle
has to avoid a series of laser beams during the mission. The approach
to the solution involves a Quadrotor helicopter enabled with a combination
of Stability Augmentation Systems for stability, Simultaneous Localization
and Mapping for positioning, Navigation and Image processing for object
detection. Extensive multi-disciplinary work is involved in solving this
problem statement.
Development of a Low Cost Autonomous
Indoor Aerial Robotics System with Passive Stabilization
Christopher Miller, Frank Manning
Pima Community College
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. 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.
Quadrotor Unmanned Aerial Vehicle
for the International Aerial Robotics Competition
Thomas Brady, Nona Ebrahimi, Matt Edelman, Daniel Ellis, Thomas Manville,
Rohan Mehta, Ryan Moore, Anthony Smith, Alex The University of Michigan
ABSTRACT
The University of Michigan’s Autonomous Aerial Vehicle Team (MAAV) will
compete in the 2010 International Aerial Robotics Competition using a
student-developed quadrotor helicopter called MAAVerick. MAAV has implemented
mapping techniques, decision logic, and control algorithms to navigate
through an unknown facility to locate and retrieve a flash drive.
