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Teach and Aggressive Repeat
Teach and repeat, but try to be as fast as possible on repeat. Goal is to deploy this on a quad.
When we think of robot path planning, we often think of fitting optimal trajectories into dense 3D maps. This requires high quality 3D maps in the first place, which are often hard to obtain. An alternative approach, called Teach and Repeat, is to retrace previously traversed paths. Teach and Repeat maps are easier to create, as no globally consistent pose estimate is required. They can also be very compact, as the environment only needs to be sampled at sparse, visually salient locations. In this project, you will do T&R with a twist: Try to fly the repeat as fast as possible.
When we think of robot path planning, we often think of fitting optimal trajectories into dense 3D maps. This requires high quality 3D maps in the first place, which are often hard to obtain. An alternative approach, called Teach and Repeat, is to retrace previously traversed paths. Teach and Repeat maps are easier to create, as no globally consistent pose estimate is required. They can also be very compact, as the environment only needs to be sampled at sparse, visually salient locations. In this project, you will do T&R with a twist: Try to fly the repeat as fast as possible.
Start by building a basic teach and repeat based on existing components. Then, start increasing the repeat speed. Find out what the limitations are. Perceptual limitations like motion blur? If so, can this be solved with event cameras ( https://goo.gl/itzpJN ) ? Or is it avoiding collisions, as potentially tight maneuvers from the slow teach phase cannot be repeated at high velocities? You will most likely start with deployment on a real quadrotor very soon.
Start by building a basic teach and repeat based on existing components. Then, start increasing the repeat speed. Find out what the limitations are. Perceptual limitations like motion blur? If so, can this be solved with event cameras ( https://goo.gl/itzpJN ) ? Or is it avoiding collisions, as potentially tight maneuvers from the slow teach phase cannot be repeated at high velocities? You will most likely start with deployment on a real quadrotor very soon.
Titus Cieslewski ( titus at ifi.uzh.ch ), APPLY VIA EMAIL, ATTACH CV AND TRANSCRIPT (also Bachelor)! Required skills: Linux, C++, ROS. Students who took the Vision Algorithms for Mobile Robots class are at an advantage.
Titus Cieslewski ( titus at ifi.uzh.ch ), APPLY VIA EMAIL, ATTACH CV AND TRANSCRIPT (also Bachelor)! Required skills: Linux, C++, ROS. Students who took the Vision Algorithms for Mobile Robots class are at an advantage.