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Accessible Aerial Autonomy

Accessible Aerial Autonomy. HMC. Cal Poly Pomona. Nick Berezny ‘12, Lilian de Greef ‘12, Brad Jensen ’ 13, Kim Sheely ‘12, Malen Sok ’ 13, and Zach Dodds. ARDrone as robot?. RC toy. 802.11b wireless. Our video: supermanning it. Open, published ASCII protocol. Two cameras .

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Accessible Aerial Autonomy

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  1. Accessible Aerial Autonomy HMC Cal Poly Pomona Nick Berezny ‘12, Lilian de Greef ‘12, Brad Jensen ’13, Kim Sheely ‘12, MalenSok’13, and Zach Dodds

  2. ARDrone as robot? RC toy 802.11b wireless Our video: supermanning it Open, published ASCII protocol Two cameras Gyros and diagnostic sensors

  3. Programmatic control? Publicly available SDK Our video: crash! Would be nice to have Java or Python interfaces… ROS seemed the best path to increased control and decreased chaos

  4. Python-based ROS drivers We found the SDK-based drivers tricky to work with Kim supermanning (2 days) A full SDK-independent Python implementation was available It testifies to ROS’s architecture that it took less than a week to integrate the drone completely, including learning ROS! All four video options are accessible. Psycho helps. images

  5. Control? Perception. Reality.

  6. Vantage advantage GCER 2011 Mutual cooperation between a Create and the ARDrone Sliding-scale autonomy is crucial, at least in development

  7. Sensing! Positives OpenCV + ROS On- and off-board testing Must use vision! In-hand and flight testing Wild motions Negatives Video of the drone and the pink walls Noise … somewhere

  8. Sensing, sensibly! Positives Must use vision! OpenCV + ROS + anything! On- and off-board testing In-hand and flight testing Negatives April Tags Noise … somewhere

  9. Hula Hopping Graph of locations (hula hoops are for us)

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