Click Here for Abhyast Phase V Problem Statement
Many researchers have proposed the use of Micro Air Vehicles (MAVs) as a promising alternative to ground robot platforms for rescue tasks and a host of other applications because of their reach. MAVs are already being used in several military and civilian domains, including surveillance operations, weather observation, disaster relief coordination, and civil engineering inspections
In the ground robotics domain, many algorithms exist for accurate localization in large-scale environments; however, these algorithms are usually deployed on slow moving robots, which cannot handle even moderately rough terrain. MAVs face a number of unique challenges that make developing algorithms for them far more difficult than their indoor ground robot counterparts.
There are further challenges that we do not address in this work such as building and planning in 2D representations of the environment.
This work was part of the Boeing externship program. We are grateful for their support. The authors wish to thank the following people for their support in the project: Dr. Shantanu Bhattacharya provided all the support and guidance throughout the course of the project; Dr. Sudhir Kamle guided and mentored with the development and maintenance of the hardware.
Click Here for Abhyast Phase V Report
Click Here for Abhyast Phase V Presentation