Relative Localization and Formation Tracking
2017
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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.
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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
2016
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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.
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Autonomous Indoor MAV with SLAM (2017)
Minh-Chung Hoang
Laser-SLAM flight with X8 UAV
Precision Landing on Moving Landing Pad
2017
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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.
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FYP Report: [pdf] [UREACA award]
An implementation of Multi-agent System (2018)
Minh-Chung Hoang
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More videos: [fast UAV approach]
UAV search and land on moving UGV
Non-Iterative SLAM (NI-SLAM)
2018
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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.
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Journal paper: [pdf]
Non-iterative RGB-D-inertial Odometry. (2018)
Chen Wang, Minh-Chung Hoang, Lihua Xie and Junsong Yuan
[Submitted to IJRR]
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NI-SLAM demonstration on handheld setup and UAV
Bio-inspired Corrugated Airfoil
2013
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This project investigates the aerodynamic behavior of fluids passing through a series of corrugation-shaped airfoils, which mimic the profile of dragonfly wings.
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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
