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Data-Driven Quadrotor Simulation
Collect a dataset of high-speed maneuvers in the optitrack and identify the quadrotor platform. Use this model to create a fast and accurate quadrotor simulation. Verify the simulator by comparing it to real-world data.
Current quadrotor simulators used in research only model the simplified dynamics of quadrotors and typically don’t account for aerodynamic effects encountered at high speeds. To push the limits in fast autonomous flight, access to a simulator that accurately models the platform in those regimes is very important. With having access to the largest optitrack-space in Zurich, the goal of this thesis is to record a dataset of very agile maneuvers and use it to accurately identify the quadrotor platform.
After analyzing different identification methods, the best performing candidate is used to build an accurate quadrotor dynamics model that is then integrated in a simulator.
Applicants should have strong experience in C++ and Python programming and a robotics background.
Current quadrotor simulators used in research only model the simplified dynamics of quadrotors and typically don’t account for aerodynamic effects encountered at high speeds. To push the limits in fast autonomous flight, access to a simulator that accurately models the platform in those regimes is very important. With having access to the largest optitrack-space in Zurich, the goal of this thesis is to record a dataset of very agile maneuvers and use it to accurately identify the quadrotor platform. After analyzing different identification methods, the best performing candidate is used to build an accurate quadrotor dynamics model that is then integrated in a simulator.
Applicants should have strong experience in C++ and Python programming and a robotics background.
Collect a dataset of high-speed maneuvers in the optitrack and identify the quadrotor platform. Use this model to create a fast and accurate quadrotor simulation. Verify the simulator by comparing it to real-world data.
Collect a dataset of high-speed maneuvers in the optitrack and identify the quadrotor platform. Use this model to create a fast and accurate quadrotor simulation. Verify the simulator by comparing it to real-world data.
Elia Kaufmann (ekaufmann@ifi.uzh.ch), Yunlong Song (song@ifi.uzh.ch)
Elia Kaufmann (ekaufmann@ifi.uzh.ch), Yunlong Song (song@ifi.uzh.ch)