Software and Scientific Team Projects
Lecturers
- Christoph Steup
- Sanaz Mostaghim
Time and location
- Time: The first meeting will take place on October 14th 2015 at 13:00 (Note: If you are interested to take this project, you must attend this meeting in which we assign you in groups)
- Location: G29 - 035
Organization:
The course will be taken in groups of 3-4 Students per Topic. The students and the groups will be chosen by us depending on your background. The individual topics are not fully fixed, extensions and modifications are possible depending on the skills and interest of participating students. This will be discussed in the first meeting. The result of each project is a working demonstration with commented source code and a written documentation indicating the general concept and a Howto to start the demo.
Available Topics:
Robust Take-Off and Landing:
Currently our copters cannot use their autonomous behaviour during take off and landing. This is partially because the used sensors are outside of their operational range and partially because the autonomous behaviour is based on a free range around the copter. A third aspect is the change of behaviour of the copter due to the ground effect. The aim of this project is to analyze the existing autonomous behaviour for height control and wall avoidance during take off and landing and modify it to be able to have a very robust take off and landing.
Robust Multi-Copter Flight:
Most of the work until this point aimed to provide a single copter with stable behaviour, swarm algorithms could rely on. This project will now focus on more then one copter to provide this stable behaviour. The goal is to let a minimum of two copters fly in the arena without them colliding with themself or the walls. The existing work on wall-avoidance and height control may be used to implement baseline behaviour. The difficult part is the robustness, since sensory input may be unreliable and the copters will influence each other with the wind they generate.
Simulation: Effects of Environment on the Swarm Behaviour
Our current simulation can physically simulate the copters and evaluate simple swarm behaviour like cluster formation. In the next step we want to check the robustness of the behaviour of the copters to various environmental influences like wind, changes in air pressure or failures of sensors. The goal of this project is to model such envioronmental influences in the simulation together with the influence on the copters. Finally, the project shall investigate some swarm behaviour algorithms for cluster formation against different environmental disturbances.
Simulation: External control of Swarms of Copters
Currently our virtual copters swarms randomly walk through the arena without a goal. This project will enable the simulation to set goals to the copters using virtual landscape controlling the behaviour of the copters. This enables new formations the copters will follow as well as constant movement if the landscape is constantly changing. Existing work on integrating dynamic landscape in the simulation and detecting these with the copters can be used. The goal of this project is to evaluate the necessary sensory equipment and the control parameters necessary to move the copters stable and without collisions.
Special topics are available on demand. If students have own ideas we will gladly try to provide appropriate topics.
Slides
Teams
not yet defined