{"id":61,"date":"2020-07-15T12:50:02","date_gmt":"2020-07-15T12:50:02","guid":{"rendered":"https:\/\/students.pingry.org\/irt\/?page_id=61"},"modified":"2020-08-23T05:06:59","modified_gmt":"2020-08-23T05:06:59","slug":"drover","status":"publish","type":"page","link":"https:\/\/students.pingry.org\/irt\/drover\/","title":{"rendered":"Drover"},"content":{"rendered":"

[et_pb_section fb_built=”1″ admin_label=”Hero” _builder_version=”3.22″ background_color=”#f8fbfe” use_background_color_gradient=”on” background_color_gradient_start=”#53a0fd” background_color_gradient_end=”#4161d4″ background_color_gradient_direction=”135deg” background_image=”https:\/\/students.pingry.org\/irt\/wp-content\/uploads\/sites\/19\/2020\/07\/geometric-bg-overlay-01.jpg” background_blend=”overlay” custom_padding=”8.6%|0px||0px||” animation_style=”zoom” animation_direction=”bottom” animation_intensity_zoom=”8%” animation_starting_opacity=”100%” box_shadow_style=”preset7″ box_shadow_horizontal=”0px” box_shadow_vertical=”-200px” box_shadow_color=”#F8FBFE”][et_pb_row _builder_version=”3.25″][et_pb_column type=”4_4″ _builder_version=”3.25″ custom_padding=”|||” custom_padding__hover=”|||”][et_pb_text _builder_version=”4.4.7″ text_font=”Abhaya Libre||||||||” text_text_color=”#ffffff” text_font_size=”18px” text_line_height=”1.8em” header_font=”Abhaya Libre|700|||||||” header_text_align=”center” header_text_color=”#ffffff” header_font_size=”45px” header_line_height=”1.3em” header_2_font=”||||||||” text_orientation=”center” max_width=”700px” module_alignment=”center” custom_margin=”||18px|||” custom_padding=”||17px|||” inline_fonts=”Abhaya Libre”]<\/p>\n

DROVER: Drone-Rover Communication for Pathfinding<\/b><\/h1>\n

[\/et_pb_text][et_pb_text _builder_version=”4.4.7″ header_font=”Abhaya Libre||||||||” header_3_font=”Abhaya Libre|600|||||||” header_3_text_color=”#ffffff” header_3_font_size=”25px” custom_margin=”||60px|||” header_3_text_shadow_style=”preset5″]<\/p>\n

Noah Bergam, Justin Li, Micah Elwyn, Sam Henriques, Dr. Jolly<\/h3>\n

[\/et_pb_text][et_pb_image align=”center” align_tablet=”center” align_phone=”” align_last_edited=”on|desktop” _builder_version=”4.4.7″ custom_margin=”41px|||||” custom_padding=”||45px|||” border_radii=”on|10px|10px|10px|10px” border_width_all=”1px” border_color_all=”rgba(51,51,51,0.1)” box_shadow_style=”preset1″ box_shadow_vertical=”10px” box_shadow_blur=”30px” box_shadow_color=”rgba(34,56,101,0.09)”][\/et_pb_image][\/et_pb_column][\/et_pb_row][et_pb_row _builder_version=”4.4.7″][et_pb_column type=”4_4″ _builder_version=”4.4.7″][et_pb_text _builder_version=”4.4.7″ text_font=”Abhaya Libre|600|||||||” header_font_size=”54px”]<\/p>\n

Project Summary<\/h1>\n

[\/et_pb_text][\/et_pb_column][\/et_pb_row][\/et_pb_section][et_pb_section fb_built=”1″ admin_label=”Features” _builder_version=”3.22″ background_color=”#f8fbfe” custom_margin=”-62px|||||” custom_padding=”151px|0px|100px|0px||”][et_pb_row _builder_version=”4.4.7″ min_height=”135px”][et_pb_column type=”4_4″ _builder_version=”4.4.7″][et_pb_text _builder_version=”4.4.7″ text_font=”Abhaya Libre||||||||” text_text_color=”#ffffff” text_line_height=”1.9em” background_color=”#88c4dd” custom_margin=”-143px|||||” custom_padding=”14px||0px||false|false”]<\/p>\n

Due to their unique abilities and visual perspectives, integrating a drone and a rover into a single autonomous system is an enticing prospect, with applications currently being explored in wildfire tracking, garbage collection, and extraterrestrial reconnaissance<\/span><\/h2>\n

[1], [2], [3].\u00a0 This project, entitled DROVER, is concerned with building such a system cheaply and effectively and applying the AirGround protocol for drone-rover communication, developed by [4], to a pathfinding problem in an unknown environment. The main challenge in solving this problem is implementing a multi-robot simultaneous localization and mapping (SLAM) protocol which can integrate the very different perspectives of the drone and the rover in real time. Once physically active, the DROVER system will be tested based on its speed of various path traversals with respect to different multi-robot SLAM algorithms, such as Extended Kalman Filters (EKF), Extended Information Filters, and Particle Filters (PF) [5].<\/span><\/h2>\n

[\/et_pb_text][\/et_pb_column][\/et_pb_row][et_pb_row column_structure=”1_3,1_3,1_3″ _builder_version=”4.4.7″][et_pb_column type=”1_3″ _builder_version=”4.4.7″][et_pb_image src=”https:\/\/students.pingry.org\/irt\/wp-content\/uploads\/sites\/19\/2020\/08\/DroneSetup.jpeg” title_text=”DroneSetup” _builder_version=”4.4.7″][\/et_pb_image][\/et_pb_column][et_pb_column type=”1_3″ _builder_version=”4.4.7″][et_pb_image src=”https:\/\/students.pingry.org\/irt\/wp-content\/uploads\/sites\/19\/2020\/08\/Rover.png” title_text=”Rover” _builder_version=”4.4.7″ custom_margin=”80px||||false|false”][\/et_pb_image][\/et_pb_column][et_pb_column type=”1_3″ _builder_version=”4.4.7″][et_pb_image src=”https:\/\/students.pingry.org\/irt\/wp-content\/uploads\/sites\/19\/2020\/08\/StereoSystem.jpeg” title_text=”StereoSystem” _builder_version=”4.4.7″ custom_margin=”80px||||false|false”][\/et_pb_image][\/et_pb_column][\/et_pb_row][et_pb_row column_structure=”1_3,1_3,1_3″ _builder_version=”4.4.7″][et_pb_column type=”1_3″ _builder_version=”4.4.7″][et_pb_text _builder_version=”4.4.7″ header_2_font=”Abhaya Libre||||||||”]<\/p>\n

Figure 1. Drone setup<\/h2>\n

[\/et_pb_text][\/et_pb_column][et_pb_column type=”1_3″ _builder_version=”4.4.7″][et_pb_text _builder_version=”4.4.7″ header_2_font=”Abhaya Libre||||||||”]<\/p>\n

Figure 2. Rover<\/h2>\n

[\/et_pb_text][\/et_pb_column][et_pb_column type=”1_3″ _builder_version=”4.4.7″][et_pb_text _builder_version=”4.4.7″ header_font=”Abhaya Libre||||||||” header_2_font=”Abhaya Libre||||||||”]<\/p>\n

Figure 3. Stereo system<\/h2>\n

[\/et_pb_text][\/et_pb_column][\/et_pb_row][et_pb_row _builder_version=”4.4.7″ custom_padding=”52px|||||”][et_pb_column type=”4_4″ _builder_version=”4.4.7″][et_pb_text _builder_version=”4.4.7″ text_font=”|600|on||||||” header_font=”Abhaya Libre||||||||” header_font_size=”53px” inline_fonts=”Abhaya Libre”]<\/p>\n

Methods and Direction<\/b><\/h1>\n

[\/et_pb_text][et_pb_text _builder_version=”4.4.7″ text_font=”Abhaya Libre||||||||” background_color=”#88c4dd” custom_margin=”|-9px||||” custom_padding=”20px|14px|8px|12px|false|false”]<\/p>\n

Most of the work put into the project thus far has been concerned with physical design of the system and data intake. We currently have a drone and a rover which we plan to network using Raspberry Pi (see pictures). We are currently working on calibrating a stereo-vision system for the rover and we have done initial testing on pathfinding algorithms for the drone (see Test1 and Test2 folders).<\/span><\/h2>\n

<\/h2>\n

With the physical part of the project interrupted due to the quarantine, our focus has more recently been directed towards algorithm development. We plan to find or create footage to use for SLAM algorithm testing, and develop the backbone for the code which would be loaded on the drone and the rover, integrating ideas from our previous coding work. We may use online robotics simulations for testing.<\/span><\/h2>\n

\n<\/h3>\n

[\/et_pb_text][\/et_pb_column][\/et_pb_row][et_pb_row _builder_version=”4.4.7″][et_pb_column type=”4_4″ _builder_version=”4.4.7″][et_pb_text _builder_version=”4.4.7″ header_2_font=”Abhaya Libre||||||||” background_color=”#d6d6d6″ hover_enabled=”0″]<\/p>\n

Drover Test 1: Absolute Image Tracking.<\/h2>\n

<\/h2>\n

[\/et_pb_text][et_pb_image src=”https:\/\/students.pingry.org\/irt\/wp-content\/uploads\/sites\/19\/2020\/08\/Screen-Shot-2020-04-22-at-11.59.32-PM.png” _builder_version=”4.4.7″ title_text=”Screen Shot 2020-04-22 at 11.59.32 PM” hover_enabled=”0″][\/et_pb_image][et_pb_text _builder_version=”4.4.7″ text_font=”Abhaya Libre||||||||” background_color=”#d6d6d6″ hover_enabled=”0″]<\/p>\n

Drover Test 2: Weighted Image Tracing<\/h2>\n

<\/h2>\n

[\/et_pb_text][\/et_pb_column][\/et_pb_row][et_pb_row _builder_version=”4.4.7″ column_structure=”1_3,1_3,1_3″ hover_enabled=”0″][et_pb_column _builder_version=”4.4.7″ type=”1_3″][et_pb_image src=”https:\/\/students.pingry.org\/irt\/wp-content\/uploads\/sites\/19\/2020\/08\/Screen-Shot-2020-04-23-at-12.10.56-AM.png” _builder_version=”4.4.7″ title_text=”Screen Shot 2020-04-23 at 12.10.56 AM” hover_enabled=”0″][\/et_pb_image][\/et_pb_column][et_pb_column _builder_version=”4.4.7″ type=”1_3″][et_pb_image src=”https:\/\/students.pingry.org\/irt\/wp-content\/uploads\/sites\/19\/2020\/08\/Screen-Shot-2020-04-22-at-11.59.44-PM.png” _builder_version=”4.4.7″ title_text=”Screen Shot 2020-04-22 at 11.59.44 PM” hover_enabled=”0″][\/et_pb_image][\/et_pb_column][et_pb_column _builder_version=”4.4.7″ type=”1_3″][et_pb_image src=”https:\/\/students.pingry.org\/irt\/wp-content\/uploads\/sites\/19\/2020\/08\/Screen-Shot-2020-04-22-at-11.59.00-PM-1.png” _builder_version=”4.4.7″ title_text=”Screen Shot 2020-04-22 at 11.59.00 PM” hover_enabled=”0″][\/et_pb_image][\/et_pb_column][\/et_pb_row][et_pb_row _builder_version=”4.4.7″ custom_padding=”||0px|||”][et_pb_column type=”4_4″ _builder_version=”4.4.7″][et_pb_text _builder_version=”4.4.7″ text_font=”Abhaya Libre|600|||||||” header_font=”Abhaya Libre|600|||||||” header_font_size=”50px”]<\/p>\n

References<\/h1>\n

[\/et_pb_text][\/et_pb_column][\/et_pb_row][et_pb_row _builder_version=”4.4.7″][et_pb_column type=”4_4″ _builder_version=”4.4.7″][et_pb_text _builder_version=”4.4.7″ text_font=”Abhaya Libre||||||||” background_color=”#d6d6d6″]<\/p>\n

[1]: <\/span>https:\/\/www.colorado.edu\/aerospace\/sites\/default\/files\/attached-files\/drift_msr.pdf<\/a><\/span><\/h2>\n

[2]:<\/span>https:\/\/www.theverge.com\/2016\/2\/25\/11112160\/volvo-robot-drone-trash-prototype<\/span><\/a><\/h2>\n

[3]: <\/span>https:\/\/www.vox.com\/recode\/2020\/7\/30\/21348560\/mars-rover-nasa-perseverance-autonomous-helicopter-drone<\/span><\/a><\/h2>\n

[4]: <\/span>https:\/\/ieeexplore.ieee.org\/document\/7230963<\/span><\/a><\/h2>\n

[5]: <\/span>https:\/\/onlinelibrary.wiley.com\/doi\/abs\/10.1002\/rob.21620<\/span><\/a><\/h2>\n

[\/et_pb_text][\/et_pb_column][\/et_pb_row][\/et_pb_section][et_pb_section fb_built=”1″ admin_label=”Center Aligned Text ” _builder_version=”4.4.7″ background_color=”#f8fbfe” use_background_color_gradient=”on” background_color_gradient_start=”#53a0fd” background_color_gradient_end=”#4161d4″ background_color_gradient_direction=”135deg” background_image=”https:\/\/students.pingry.org\/irt\/wp-content\/uploads\/sites\/19\/2020\/07\/geometric-bg-overlay-02.jpg” background_blend=”overlay” custom_padding=”100px|0px|100px|0px” animation_style=”zoom” animation_direction=”bottom” animation_intensity_zoom=”8%” animation_starting_opacity=”100%”][et_pb_row admin_label=”Tittle” _builder_version=”3.25″][et_pb_column type=”4_4″ _builder_version=”3.25″ custom_padding=”|||” custom_padding__hover=”|||”][et_pb_text _builder_version=”4.4.7″ header_font=”Abhaya Libre|700|||||||” header_text_align=”center” header_text_color=”#ffffff” header_font_size=”60px”]<\/p>\n

Meet the Team<\/h1>\n

[\/et_pb_text][\/et_pb_column][\/et_pb_row][et_pb_row column_structure=”1_5,1_5,1_5,1_5,1_5″ _builder_version=”4.4.7″][et_pb_column type=”1_5″ _builder_version=”4.4.7″][et_pb_image src=”https:\/\/students.pingry.org\/irt\/wp-content\/uploads\/sites\/19\/2020\/08\/Bergam_Noah_Grade-11_2019-20.jpg” title_text=”Bergam_Noah_Grade 11_2019-20″ _builder_version=”4.4.7″][\/et_pb_image][\/et_pb_column][et_pb_column type=”1_5″ _builder_version=”4.4.7″][et_pb_image src=”https:\/\/students.pingry.org\/irt\/wp-content\/uploads\/sites\/19\/2020\/08\/Li_Justin_Grade-11_2019-20.jpg” title_text=”Li_Justin_Grade 11_2019-20″ _builder_version=”4.4.7″][\/et_pb_image][\/et_pb_column][et_pb_column type=”1_5″ _builder_version=”4.4.7″][et_pb_image src=”https:\/\/students.pingry.org\/irt\/wp-content\/uploads\/sites\/19\/2020\/08\/Elwyn_Micah_Grade-11_2019-20.jpg” title_text=”Elwyn_Micah_Grade 11_2019-20″ _builder_version=”4.4.7″][\/et_pb_image][\/et_pb_column][et_pb_column type=”1_5″ _builder_version=”4.4.7″][et_pb_image src=”https:\/\/students.pingry.org\/irt\/wp-content\/uploads\/sites\/19\/2020\/08\/Henriques_Samuel_Grade-10_2019-20.jpg” title_text=”Henriques_Samuel_Grade 10_2019-20″ _builder_version=”4.4.7″][\/et_pb_image][\/et_pb_column][et_pb_column type=”1_5″ _builder_version=”4.4.7″][et_pb_image src=”https:\/\/students.pingry.org\/irt\/wp-content\/uploads\/sites\/19\/2020\/08\/Jolly_Marie-Pierre_Fac-Staff_2019-20.jpg” title_text=”Jolly_Marie-Pierre_Fac-Staff_2019-20″ _builder_version=”4.4.7″][\/et_pb_image][\/et_pb_column][\/et_pb_row][et_pb_row column_structure=”1_5,1_5,1_5,1_5,1_5″ _builder_version=”4.4.7″][et_pb_column type=”1_5″ _builder_version=”4.4.7″][et_pb_text _builder_version=”4.4.7″ header_2_font=”Abhaya Libre|600|||||||” header_2_text_color=”#ffffff” header_2_font_size=”35px”]<\/p>\n

Noah Bergam<\/h2>\n

[\/et_pb_text][\/et_pb_column][et_pb_column type=”1_5″ _builder_version=”4.4.7″][et_pb_text _builder_version=”4.4.7″ header_font=”Abhaya Libre|600|||||||” header_text_align=”center” header_text_color=”#ffffff” header_2_font=”Abhaya Libre|600|||||||” header_2_text_color=”#ffffff” header_2_font_size=”35px” header_2_letter_spacing=”1px”]<\/p>\n

Justin Li<\/h2>\n

[\/et_pb_text][\/et_pb_column][et_pb_column type=”1_5″ _builder_version=”4.4.7″][et_pb_text _builder_version=”4.4.7″ header_2_font=”Abhaya Libre|600|||||||” header_2_text_color=”#ffffff” header_2_font_size=”35px”]<\/p>\n

Micah Elwyn<\/h2>\n

[\/et_pb_text][\/et_pb_column][et_pb_column type=”1_5″ _builder_version=”4.4.7″][et_pb_text _builder_version=”4.4.7″ header_2_font=”Abhaya Libre||||||||” header_2_text_color=”#ffffff” header_2_font_size=”35px”]<\/p>\n

Sam Henriques<\/h2>\n

[\/et_pb_text][\/et_pb_column][et_pb_column type=”1_5″ _builder_version=”4.4.7″][et_pb_text _builder_version=”4.4.7″ header_font=”Abhaya Libre|600|||||||” header_2_font=”Abhaya Libre|600|||||||” header_2_text_color=”#ffffff” header_2_font_size=”35px”]<\/p>\n

Dr. Jolly<\/h2>\n

[\/et_pb_text][\/et_pb_column][\/et_pb_row][\/et_pb_section][et_pb_section fb_built=”1″ _builder_version=”4.4.7″][et_pb_row _builder_version=”4.4.7″][et_pb_column _builder_version=”4.4.7″ type=”4_4″][\/et_pb_column][\/et_pb_row][\/et_pb_section]<\/p>\n","protected":false},"excerpt":{"rendered":"

DROVER: Drone-Rover Communication for PathfindingNoah Bergam, Justin Li, Micah Elwyn, Sam Henriques, Dr. JollyProject SummaryDue to their unique abilities and visual perspectives, integrating a drone and a rover into a single autonomous system is an enticing prospect, with applications currently being explored in wildfire tracking, garbage collection, and extraterrestrial reconnaissance [1], [2], [3].\u00a0 This project, […]<\/p>\n","protected":false},"author":42,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_et_pb_use_builder":"on","_et_pb_old_content":"","_et_gb_content_width":"","footnotes":""},"class_list":["post-61","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/students.pingry.org\/irt\/wp-json\/wp\/v2\/pages\/61","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/students.pingry.org\/irt\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/students.pingry.org\/irt\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/students.pingry.org\/irt\/wp-json\/wp\/v2\/users\/42"}],"replies":[{"embeddable":true,"href":"https:\/\/students.pingry.org\/irt\/wp-json\/wp\/v2\/comments?post=61"}],"version-history":[{"count":7,"href":"https:\/\/students.pingry.org\/irt\/wp-json\/wp\/v2\/pages\/61\/revisions"}],"predecessor-version":[{"id":191,"href":"https:\/\/students.pingry.org\/irt\/wp-json\/wp\/v2\/pages\/61\/revisions\/191"}],"wp:attachment":[{"href":"https:\/\/students.pingry.org\/irt\/wp-json\/wp\/v2\/media?parent=61"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}