usrl-uofsc.github.io/research.html at main · usrl-uofsc/usrl-uofsc.github.io · GitHub

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			<h3>A marsupial system for freshwater ecosystems</h3>
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						<li>Team of an autonomous UAV and an autonomous ASV to extend field capabilities</li>
						<li>Customized landing platform (drone ferry, autonomous take-off and landing)</li>
						<li>Multiple-sensor fusion for state estimation for both platforms</li>
						<li>Cooperative localization</li>
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			<h3>MagDrone</h3>
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						<li>Goal: performing contact based inspection of ferrous structures</li>
						<li>Electro-permanent magnet used for docking </li>
						<li>In the process of automating the docking process using AR tag markers and ROS on a Raspberry
							Pi</li>
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			<h3>Infrastructure Inspection with a DIC enabled UAS</h3>
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						<li>A 3D DIC system is mounted on the UAS</li>
						<li>The UAS is able to fly autonomously during the data acquisition using the onboard sensors
							and position information from a marker</li>
						<li>The results of our experiments show the feasibility of such a system
						<li>We were able to measure the strain fields during the loading of the beam</li>
						<li>The formation and progression of cracks were also captured</li>
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			<h3>Custom Low-Cost MAVs</h3>
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						<li>Airframe Designed and Simulated in PTC Creo</li>
						<li>3D printed out of Ultimaker Tough PLA</li>
						<li>PixHawk 4 Flight Controller Running PX4</li>
						<li>Specifications
							<ul>
								<li>3S or 4S LiPo batteries</li>
								<li>2205-2300KV motors capable of 1024g thrust each</li>
								<li>21 cm motor-motor distance</li>
								<li>8 minute flight time with 3300 mAh battery</li>
								<li>Allows for loading various sensors while their size is ideal for in-doors
									applications</li>
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			<h3>In-Door Autonomous V-SLAM</h3>
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						<li>UAV navigation in unknown, GPS-denied environments</li>
						<li>Uses the in-house made drone</li>
						<li>3D occupancy map of space generated live off-board</li>
						<li>Uses a front-facing stereo camera + IMU as the main sensor to perform VIO</li>
						<li>Uses a downward facing Optical Flow camera for x and y estimates where VIO isn’t sufficient
							(e.g. hallways)</li>
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			<h3>f1/10th Competition</h3>
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						<li>Design Autonomous RV Vehicle using open-source software and hardware</li>
						<li>Applications in SLAM and AV research</li>
						<li>Can be used to test AV systems that are dangerous to test using full size vehicles</li>
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