We release Teach-Repeat-Replan, which is a complete and robust system enables Autonomous Drone Race.
Teach-Repeat-Replan can be applied to situations where the user has a preferable rough route but isn’t able to pilot the drone ideally, such as drone racing. With our system, the human pilot can virtually control the drone with his/her navie operations, then our system automatically generates a very efficient repeating trajectory and autonomously execute it. During the flight, unexpected collisions are avoided by onboard sensing/replanning. Teach-Repeat-Replan can also be used for normal autonomous navigations. For these applications, a drone can autonomously fly in complex environments using only onboard sensing and planning.
Major components are:
- Planning: flight corridor generation, global spatial-temporal planning, local online re-planning
- Perception: global deformable surfel mapping, local online ESDF mapping
- Localization: global pose graph optimization, local visual-inertial fusion
- Controlling: geometric controller on SE(3)
Authors: Fei Gao, Boyu Zhou, and Shaojie Shen
Videos: Video1, Video2
Fei GAO received 2016 IEEE-SSRR Best Conference Paper Award
The paper “Online quadrotor trajectory generation and autonomous navigation on point clouds” by Ph.D. student Fei GAO just won the Best Conference Paper Award in the 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) at Lausanne, Switzerland. Our group got the best paper award for this conference two years in a row.read more
On September 20th 2016, professor Shaojie Shen was invited by the 2016 Symposium on Research and Application in Computer Vision (RACV 2016) to have a talk about “Robust Autonomous Flight in Cluttered Environment”, on the panel of Computer Vision for Robotics at Shanghai Technology University. read more
UAV team has received the Innovation and Technology Fund of HK$ 5,918,635.07 for developing a platform project titled “The design, manufacture, analysis and control of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs)”.
The Unmanned Aerial Vehicle (UAV) team of HKUST has won the First Prize in the International Aerial Robotics Competition (IARC) 2015 – Asia/Pacific Venue, which was held in Beijing from 5 to 8 Nov 2015..