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Projects:

This page contains some videos related to our main research projects. Click on the picture to start the video

Electric tower's inspection: Our objective is to develop estimation and control algorithms that allow a MAV to navigate autonomously around, and possibly inside, an electric tower without relying on GPS information. This video illustrates preliminary work on this topic where laser sensors are used to locate the MAV with respect to the tower. Preliminary reconstruction of the tower's geometry is also demonstrated. 

 

 

Way-points navigation with a Laser Range Finder: This video shows way-points navigation with one of our MAVs equipped with a Hokuyo Laser Range Finder. The sensor is used to estimate the translational displacement and yaw angle. This information allows for the autonomous navigation of the MAV based on way-points. 

 

 

 

 

Visuo-inertial fusion: We are currently developing a visuo-inertial odometry sensor composed of a mono-camera, an IMU, and a processor. This sensor, named ROBOX, can provide 3D pose (position and orientation), as well as velocities in real-time. It also contains the algorithms to process vision data and fuse them with IMU data. This project is a collaboration with the French start-up Robocortex. You can see bellow a picture of the sensor (left) and a video of a planar target tracking with this sensor. Note that the tracking is processed in real-time and the video is NOT ACCELERATED.

            

 

Robox sensor                                               Real-time target tracking with fast dynamics

 

Feedback control with mono-camera vision: The videos below show  automatic take-off and landing, point stabilization, and way-points navigation achieved with one of our MAVs and the ROBOX sensor. The ROBOX's camera is pointing downward and pose is estimated from a visual target located on the 

     

 

Automatic take-off and landing                  Stabilization                           Way-points navigation

 

Development of a new Convertible MAV: The video shows preliminary flight tests of a new convertible Micro Air Vehicle that we have developed. The system consists of a standard quadrotor structure with two wings added on each side of the quadrotor. The wings can tilt around the pitch axis, which gives much flexibility for control and lift force optimization.