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]
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.
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.
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]
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]
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