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Abe's Discussions
All in one rs232 Autopilot Failsafe Servo multiplexer/controller/reader
Started this discussion. Last reply by Abe Jul 6, 2010. 10 Replies 0 Likes
Our lab is trying to develop an autopilot for a fixed wing UAV capable of flight in GPS denied environments (as a follow on to our work with the quadrotors, that's been highlighted on this site…Continue
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Cristian Carlsson commented on Abe's blog post State Estimation For Aggressive Flight Using Onboard Sensing
John Hestness commented on Abe's blog post State Estimation For Aggressive Flight Using Onboard Sensing"This is very cool, but at 13 ounces and $5000.00 I am going to have to wait a few years for Moore's law to make it practical. I keep wondering about using a stereo vision system."
Rana commented on Abe's blog post State Estimation For Aggressive Flight Using Onboard Sensing"I am really very impressed ! Anyone who see this will definitively be impressed, its future !"
ModeratorJack Crossfire commented on Abe's blog post State Estimation For Aggressive Flight Using Onboard Sensing
"Was that your porsche?"
Abe commented on Abe's blog post State Estimation For Aggressive Flight Using Onboard Sensing"The lidar is a Hokuyo UTM-30LX:
http://www.hokuyo-aut.jp/02sensor/07scanner/utm_30lx.html
The details of the filter are in the paper... It's a hybrid between an Extended Kalman Filter and a Gaussian Particle Filter."
Alex Arevalo commented on Abe's blog post State Estimation For Aggressive Flight Using Onboard Sensing"I'm impressed. This is WAY cool! Especially considering that such an aircraft doesn't have the agility (I don't think) that a quadcopter would. Does state estimation involve a Kalman filter?"
Jan Detlefsen commented on Abe's blog post State Estimation For Aggressive Flight Using Onboard Sensing"very impressed. could you post a picture of the 2D lidar scanner? Didn't know they are so compact that you can mount them on a plane."
Kaotic Prezence commented on Abe's blog post State Estimation For Aggressive Flight Using Onboard Sensing"Super impressive gents hats off to you all."
Abe posted a blog postState Estimation For Aggressive Flight Using Onboard Sensing
The video from our recent experiments with state estimation in GPS-Denied environments. The vehicle is localizing against a known map using a MEMs IMU and a 2D lidar scanner. There are more details in our paper: http://groups.csail.mit.edu/rrg/index.php?n=Publications.Conf2012See More
Abe commented on Mark Harrison's blog post Good way to make a quad blade guard?"just ordered it directly from them..."
Abe commented on Mark Harrison's blog post Good way to make a quad blade guard?"Those blade guards are actually manufactured and sold by ascending technologies.
The black pieces are carbon fiber rods, and the tan is fiberglass (3 peices glued together). The bottom and top part are machined out of a thicker materical to…"
ModeratorGary Mortimer commented on Abe's blog post Visual Odometry For GPS-Denied Flight with a Kinect
"Moores law"
Bill Porter commented on Abe's blog post Visual Odometry For GPS-Denied Flight with a Kinect"Yeah for realistic quad sensor development!!
Seriously, the videos from the two groups using external movie studio quality motion tracking are passed around the office now to get a good chuckle from my co-workers. It must be fun for them to live in…"
Abe posted a blog postVisual Odometry For GPS-Denied Flight with a Kinect
The Robust Robotics Group at MIT has developed a system that allows a quadrotor outfitted with a kinect sensor to fly autonomously in GPS-Denied environments, building a map of the environment.Unlike previous work, our system does NOT rely on external motion capture to localize and control the vehicle. All sensing and computation required for local position control is done onboard the vehicle.We have collaborated with members of the Robotics and State Estimation Lab at University of Washington…See More
Abe replied to Abe's discussion All in one rs232 Autopilot Failsafe Servo multiplexer/controller/reader"Thanks for the suggestion, that does sound like a reasonable way of doing it, but also like a lot more work than Curt's solution.
thanks,
-=Abe"
Paul G. replied to Abe's discussion All in one rs232 Autopilot Failsafe Servo multiplexer/controller/reader"Honestly I would start with changing the firmware on this
http://store.diydrones.com/product_p/br-ppme.htm
to produce the pwm from serial input and then use two of
http://store.diydrones.com/product_p/br-0001-10.htm
to pick the signal you want…"
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Abe's Blog
State Estimation For Aggressive Flight Using Onboard Sensing
Posted on May 16, 2012 at 7:32am 8 Comments 3 Likes
The video from our recent experiments with state estimation in GPS-Denied environments.
The vehicle is localizing against a known map using a MEMs IMU and a 2D lidar scanner.
There are more details in our paper:…
Continue Visual Odometry For GPS-Denied Flight with a Kinect
Posted on March 29, 2011 at 9:33am 2 Comments 8 Likes
The Robust Robotics Group at MIT has developed a system that allows a quadrotor outfitted with a kinect sensor to fly autonomously in GPS-Denied environments, building a map of the environment.
Unlike previous work, our system does NOT rely on external motion capture to localize and control the vehicle. All sensing and computation required for local position control is done onboard the vehicle.
We have collaborated with members of the Robotics and State Estimation Lab at… Continue
Unlike previous work, our system does NOT rely on external motion capture to localize and control the vehicle. All sensing and computation required for local position control is done onboard the vehicle.
We have collaborated with members of the Robotics and State Estimation Lab at… Continue
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