Prof. Dr. Moritz Diehl, Andrea Ghezzi, Jakob Harzer, Mohammad Hababeh
The focus of this lab is to give the participants hands-on experience in applying advanced control and estimation algorithms on aerial vehicles.
The focus of the lab course is making a real flight control system work for small aerial vehicles namely the CrazyFlie drones.
This lab is completely project-based. Each student will define a project they would like to work on. The project can be slightly changed during the semester. The final assessment will be based on the final project report.
Every participant will get a supervised time slot to work in the lab, as well as a drone their own drone to assemble and work on. However, we also accept projects done only in simulation if the project idea is hard to deploy on the real hardware (due to computational limitations).
Participants are expected to work independently and have bi-weekly progress meetings. The individual time slots can be discussed with each person.
Course is fully booked! Registration no longer possible.
Course link registration
- First lecture: 08.11.2022 from 14:00 to 16:00 room: SR 02-012, Building 102.
- Introduction to flight control and to CrazyFlie minidrones
- Preliminary discussion about projects and timeline of the course.
- ATTENDANCE TO THIS LECTURE IS MANDATORY!
- The second lecture will take place on Wednesday 16.11.2022 from 8:00 to 12:00 in room SR 03-011, building 102. We will later move to the flight control lab. The lecture will start exactly at 8:00 please come on time!
- The following lectures will take place weekly on Wednesdays from 8:00 to 12:00. at the Flight Control Lab (Room 23, Floor -1, Building 102).
You will have 15 to 20 minutes for the presentation, followed by around 10 minutes of questions. Your presentation should include a clear definition of the problem you worked on, your approach, and some results. It would be great if you also include a video recording of your code working on the actual drones. Reach out to me to provide you with recording equipment if needed. The precise structure of the presentation is left to you.
I am also happy to go over your presentation with you before the deadline and provide some tips. But this would also only be during the normal Wednesday sessions only! So please book your slot in advance if you need it.
Presentations will take place on 20.02.2023 from 14:00 - 16:00 am, in room SR 01-012, Building 102. You are expected to present your work in person. Unless you have a valid (medical or otherwise) reason for not being able to come. Then we can hold your presentation remotely.
|Drone overtaking using MPC||14:15-14:45|
|Obstacle Avoidance/Detection using MPC||14:45-15:15|
|Optimal altitude adjustment and maneuvering for uneven terrains with obstacles||
|Comparison of collocation and Multiple shooting for MPC in drone control||15:45-16:15|
Project Reports And Code
The deadline for the project reports and the code as one zip file is 05.03.2023 at exactly 23:59. Please read the project guidelines!