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Relative Localization and Formation Tracking


In this project, three UAVs autonomously estimate and maintain their relative formation using their relative distances and individual velocity estimates. Ultra-wide Band (UWB) nodes are used to obtain distance and PX4Flow module for visual odometry.

Conference paper: [pdf]

Simultaneous Infrastructure-free Cooperative Relative Localization and Distributed Formation Control of UAVs (2018) 

Kexin Guo, Minh-Chung Hoang, Thien-Minh Nguyen-Pham, Abdul Hanif Zaini, Lihua Xie and Rodney Teo 

[Submitted to ICRA 2018]

Distributed control formation tracking of multiple UAV

Autonomous navigation flight with Laser SLAM


A UAV, equipped with a 270-degree laser scanner, accurately determines its position and surrounding environment to autonomously navigate to its goal while safely avoiding obstacle. Amazingly, the onboard processing is done successfully by merely a Raspberry Pi 2, a credit-card sized computer with only 1Gb RAM.

URECA Report: [pdf]

Autonomous Indoor MAV with SLAM (2017) 

Minh-Chung Hoang

Laser-SLAM flight with X8 UAV

Precision Landing on Moving Landing Pad


In this project, a general framework for multi-robot operation is proposed and implemented. One of the proof-of-concept experiments is to have an UAV autonomously search, pursue and land on a moving AGV. The moving AGV landing pad, annotated by two QR markers, is detected by the UAV downward camera. 

FYP Report: [pdf] [UREACA award]

An implementation of Multi-agent System (2018) 

Minh-Chung Hoang

More videos: [fast UAV approach

UAV search and land on moving UGV

Non-Iterative SLAM (NI-SLAM)


Non-Iterative SLAM is an innovative visual-depth-inertial SLAM method that leverages on special properties of non-circulant matrices to perform fast data-association in Fourier Domain. NI-SLAM demonstrated fast processing rate while requires little processing power.

Journal paper: [pdf]

Non-iterative RGB-D-inertial Odometry. (2018)

Chen Wang, Minh-Chung Hoang, Lihua Xie and Junsong Yuan

[Submitted to IJRR]

NI-SLAM demonstration on handheld setup and UAV

Bio-inspired Corrugated Airfoil


This project investigates the aerodynamic behavior of fluids passing through a series of corrugation-shaped airfoils, which mimic the profile of dragonfly wings. 

Journal paper: [pdf]

Effects of corrugated aerofoil surface features on flow separation control (2013)

New T.H., Chan Y.X., Koh G.C., Chung H.M. and Shi. S 

Published at AIAA Journal, Vol. 52, No. 1 (2014), pp. 206-211

Experiments with bio-inspired corrugated airfoils

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