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Perception Aware Minimum-time Planning in Cluttered Environments
Autonomous drone racing requires planning trajectories that pass through a sequence of gates as fast as possible to beat other competitors. The goal of this project is to develop planning algorithms for drones that consider known cluttered environments and plan perception-aware minimum-time trajectories.
Keywords: motion planning, drones
Autonomous drone racing requires planning trajectories that pass through a sequence of gates as fast as possible to beat other competitors. However, planning high-speed trajectories in obstacle-cluttered environments for dynamic systems like drones is a challenging problem. Moreover, the planning algorithms should support autonomous vision-based flight by creating trajectories with respect to the onboard camera used for both state estimation and gate detection. The goal of this project is to develop planning algorithms for drones that consider known cluttered environments and plan perception aware minimum-time trajectories. Applications should have strong experience in C++ and experience with ROS.
Autonomous drone racing requires planning trajectories that pass through a sequence of gates as fast as possible to beat other competitors. However, planning high-speed trajectories in obstacle-cluttered environments for dynamic systems like drones is a challenging problem. Moreover, the planning algorithms should support autonomous vision-based flight by creating trajectories with respect to the onboard camera used for both state estimation and gate detection. The goal of this project is to develop planning algorithms for drones that consider known cluttered environments and plan perception aware minimum-time trajectories. Applications should have strong experience in C++ and experience with ROS.
Not specified
Please send your CV and transcripts (bachelor and master) to Robert Penicka (penicka AT ifi DOT uzh DOT ch) and Giovanni Cioffi (cioffi AT ifi DOT uzh DOT ch).
Please send your CV and transcripts (bachelor and master) to Robert Penicka (penicka AT ifi DOT uzh DOT ch) and Giovanni Cioffi (cioffi AT ifi DOT uzh DOT ch).