UPenn - Robotics 1:Aerial Robotics - week 4:Advanced Topics

标签：form   har   hud   flight   teams   map   cap   ref   round   

q  

 estimate position within several mm, and updates at 200Hz

 Vicon Motion Capture system, please click on this link.

 https://www.coursera.org/learn/robotics-flight/lecture/ZL921/supplementary-material-lab-introduction

 calibration

 these are indoor estimation, but how about out door situations?

 imu for the position transformation?

laser  or camera for angle and distance measurement?

This is SLAM!!!!

 To learn more about how we use the Multi-Sensor Unscented Kalman Filter, and how we build 3-D maps, please see sections 5.2 and 3.3 of the following thesis:

 https://d18ky98rnyall9.cloudfront.net/_442e88b97aa6aea46ee426a54c797700_shaojie_shen_thesis.pdf?Expires=1539648000&Signature=PxHn2SPu2b5W-y3qmWG330Op81sw-VjjEEZA~a2poV6WxBDq4WwhZILzCWMpCdr9UAHvFChhnMVW7foh~uUcubNow24RlshyzzwVheM4L-0yqVYo1-0knZevnqU0yYku1jzcEWQahuDfsjD8QiCJ-Dvzx0cMAA2Vfu2PCzVJFR8_&Key-Pair-Id=APKAJLTNE6QMUY6HBC5A

https://www.youtube.com/watch?v=mZhwK_y3a2Y

 inertia is small

 To learn more about how we use the nonlinear controller and how we plan three dimensional trajectories, please see the relevant chapters in the thesis below.

 https://d18ky98rnyall9.cloudfront.net/_7f3305d57403df299005db44f23852a3_daniel_mellinger_thesis.pdf?Expires=1539648000&Signature=QyzmO7g0WIOVCxSe2sOVb5hW5x37drrLFTKtl~F8jSVCPQbXKrT2a~dOfcpY4NKYsNcsYKAiZA~LpE048YRhn~joPmrw4y1kGT8FtHzIAJIOAjjQNm7vdlkvCsgX-Vq-GirecX~4PQgErQuDNpZ2i-HHldWVWAys59ofFZoZMko_&Key-Pair-Id=APKAJLTNE6QMUY6HBC5A

3D printing????? by drones???

 considering   payloads

 To learn more about collaborative mapping between aerial and ground robots, please refer to the doctoral thesis by Benjamin Charrow, Information-theoretic active perception for multi-robot teams:

UPenn - Robotics 1:Aerial Robotics - week 4:Advanced Topics

标签：form   har   hud   flight   teams   map   cap   ref   round   

原文地址：https://www.cnblogs.com/ecoflex/p/9789053.html