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How to Catch a Flying Object. Visual Servoing with a UAV in 3D Space. (SP, MT)
The main task of this project is to investigate visual servoing strategies to catch a flying object with a UAV in 3D space.
Image source: https://youtu.be/LgWlm5zrY4w
The Mohamed Bin Zayed International Robotic Challenge (MBZIRC) is a biennial competition aiming to demonstrate the state-of-the-art in applied robotics and inspire its future. The participants need to develop complex autonomous multi-agent flying robotic systems. 2019’s first challenge requires a team of up to 3 UAVs to autonomously locate, track, and interact with a set of objects moving in space. One target is attached to a UAV, following a 3D trajectory. The other targets are balloons, tethered to bases, and randomly placed inside the arena. The targets need to be collected and delivered to a pre-specified landing location.
Stealing an object from a flying platform with a UAV is a difficult task. First the UAV needs to approach the object from distance with degraded tracking information. Once it is in the vicinity, the UAV needs to make sure to approach the target safely while keeping it in the field of view of the sensors and placing the gripper onto the target. In this project the student will investigate visual servoing strategies to capture a flying object in 3D-space. For the scope of this project the student will focus on the control strategy and assume given noisy tracking information. The tracking strategy will be implemented in a simulation environment before it will be tested on a real platform.
1. https://www.mbzirc.com/challenge/2019
2. https://github.com/ethz-asl/rotors_simulator
3. Bähnemann, Rik, et al. "The ETH-MAV Team in the MBZ International Robotics Challenge." arXiv preprint arXiv:1710.08275 (2017).
4. Mellinger, et al.. "Minimum snap trajectory generation and control for quadrotors." Robotics and Automation (ICRA), 2011 IEEE International Conference on. IEEE, 2011.
5. Falanga, et al. "Aggressive quadrotor flight through narrow gaps with onboard sensing and computing using active vision." Robotics and Automation (ICRA), 2017 IEEE International Conference on. IEEE
6. Potena, et al. "Effective target aware visual navigation for UAVs."
The Mohamed Bin Zayed International Robotic Challenge (MBZIRC) is a biennial competition aiming to demonstrate the state-of-the-art in applied robotics and inspire its future. The participants need to develop complex autonomous multi-agent flying robotic systems. 2019’s first challenge requires a team of up to 3 UAVs to autonomously locate, track, and interact with a set of objects moving in space. One target is attached to a UAV, following a 3D trajectory. The other targets are balloons, tethered to bases, and randomly placed inside the arena. The targets need to be collected and delivered to a pre-specified landing location.
Stealing an object from a flying platform with a UAV is a difficult task. First the UAV needs to approach the object from distance with degraded tracking information. Once it is in the vicinity, the UAV needs to make sure to approach the target safely while keeping it in the field of view of the sensors and placing the gripper onto the target. In this project the student will investigate visual servoing strategies to capture a flying object in 3D-space. For the scope of this project the student will focus on the control strategy and assume given noisy tracking information. The tracking strategy will be implemented in a simulation environment before it will be tested on a real platform.
1. https://www.mbzirc.com/challenge/2019
2. https://github.com/ethz-asl/rotors_simulator
3. Bähnemann, Rik, et al. "The ETH-MAV Team in the MBZ International Robotics Challenge." arXiv preprint arXiv:1710.08275 (2017).
4. Mellinger, et al.. "Minimum snap trajectory generation and control for quadrotors." Robotics and Automation (ICRA), 2011 IEEE International Conference on. IEEE, 2011.
5. Falanga, et al. "Aggressive quadrotor flight through narrow gaps with onboard sensing and computing using active vision." Robotics and Automation (ICRA), 2017 IEEE International Conference on. IEEE
6. Potena, et al. "Effective target aware visual navigation for UAVs."
- Strategy development
- Literature review on UAV 3D trajectory following with active sensing
- Development of a simulation plugin in RotorS Gazebo
- Implementation of an advanced visual servoing method
- Evaluation
- Real world tests
- Strategy development - Literature review on UAV 3D trajectory following with active sensing - Development of a simulation plugin in RotorS Gazebo - Implementation of an advanced visual servoing method - Evaluation - Real world tests
- Highly motivated and independent student
- Optimization and Control background (beneficial)
- C++ / Python
- ROS knowledge (optional)
- Highly motivated and independent student - Optimization and Control background (beneficial) - C++ / Python - ROS knowledge (optional)
If you are interested in this project, please send your transcripts and CV to
- Mina Kamel mina.kamel@mavt.ethz.ch
- Rik Bähnemann brik@ethz.ch
If you are interested in this project, please send your transcripts and CV to - Mina Kamel mina.kamel@mavt.ethz.ch - Rik Bähnemann brik@ethz.ch