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Sponsor: Aaron Ma, PhD Student
Sponsor: Aaron Ma, PhD Student
Multi-Agent Robotics (MURO) Lab at UC San Diego
Multi-Agent Robotics (MURO) Lab at UC San Diego
Project Motivation
Project Motivation
Current technological developments bring us closer to the time where teams of robots can be used in a variety of contexts, enhancing human capabilities in disaster response scenarios, search and rescue missions, environmental monitoring, adaptive sampling, service robotics, and smart buildings and infrastructure. Work on distributed robotics at the MURO Lab is helping make this vision a reality by designing, analyzing, and implementing motion planning strategies and distributed coordination algorithms on autonomous multi-agent robotic networks performing spatially-distributed tasks.
Current technological developments bring us closer to the time where teams of robots can be used in a variety of contexts, enhancing human capabilities in disaster response scenarios, search and rescue missions, environmental monitoring, adaptive sampling, service robotics, and smart buildings and infrastructure. Work on distributed robotics at the MURO Lab is helping make this vision a reality by designing, analyzing, and implementing motion planning strategies and distributed coordination algorithms on autonomous multi-agent robotic networks performing spatially-distributed tasks.
Problem Definition
Problem Definition
One of the major projects at MURO Lab is to fly a swarm of drones. While flying a drone is essentially implementing feedback control the drone's position in space, an accurate measurement of the position is essential, which is also known as localization.
One of the major projects at MURO Lab is to fly a swarm of drones. While flying a drone is essentially implementing feedback control the drone's position in space, an accurate measurement of the position is essential, which is also known as localization.
Previous localization methods used ultrasonic beacons and cameras. Those methods can achieve localization well but has a common problem:
Previous localization methods used ultrasonic beacons and cameras. Those methods can achieve localization well but has a common problem:
not scalable. In other words, they work fine with one or two drones, but less and less effective as the number of robots increases. This is the motivation of our project, to implement a new localization method that is scalable. And range and duration is not prioritized for now, indoor flight is sufficient.
not scalable. In other words, they work fine with one or two drones, but less and less effective as the number of robots increases. This is the motivation of our project, to implement a new localization method that is scalable. And range and duration is not prioritized for now, indoor flight is sufficient.
The lab works with a few different drones. The smallest one is 78mm x 78mm, which has the strictest volume and weight constraints to its components.
The lab works with a few different drones. The smallest one is 78mm x 78mm, which has the strictest volume and weight constraints to its components.
Project Deliverables
Project Deliverables
The solution is to rebuild the embedded system of the drone, consisting of two parts: hardware and software.
The solution is to rebuild the embedded system of the drone, consisting of two parts: hardware and software.
Hardware: Mainly a PCB, that includes photodiode, amplifier, high-pass filter, microprocessor and IMU, and a fixture for photodiode Constrained mainly by geometry and weight.
Software: Signal handling, calculate coordinate from signals, and Kalman filtering with information from IMU.
The sponsor will eventually take over our product, and build on top of it with flight controlling circuitry and programs.
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