10 Jan

This quarter I will be working on:The set up of Crazyswarm (Flying multiple crayflie drones) autonomously using Optitrack motion capture system. The dynamics and mathematical derivation of our last quarter project "The off center spinning mass controller" for quadcopters. Attached is my mile...

01 Sep

For our "off-center spinning mass controller" project, we wanted to control Crazyflie and run several different experiments on our drone. Ubuntu and ROS packages provided us with such platform. So we followed below paper as our guide. Flying Multiple UAVs Using ROS Since our Ubuntu and ROS version...

31 Aug

Below is the diagram of current camera configuration separating camera network from Internet in order to prevent any interference. Data interference is more likely to happen if additional cameras were added and they were on the same network as internet. (camera data can take up large bandwidth) : ...

17 Aug

Data streaming on motive can be done in several different ways such as:Loop back when data is streamed and used on the same machine Data streamed on to a virtual machine installed on the same computer Two separate computer under the same network For the purpose of our project option 3 was i...

03 Aug

Here in below video we put the precision of Optitrack motion capture system to the test. After calibration the system claimed to have only around 0.4 mm of error and as shown in the video we tried to verify this claim. Optitrack data acquisition precision

02 Aug

This week we realized in order to send position data from Motion capture system to Crazyflie ROS (Robotic Operation system) is needed. We spent couple days installing Ubuntu and ROS required packages both for Crazyflie and Optitrack Motion capture system. We are also working on motion capture syst...

26 Jul

Crazyflie motion analysis with Optitrack systemThrough past week we set up the motion capture system in the lab using 6 cameras positioned in the orientation shown above. Then we did camera calibration and and ground plane refinement using CW-500 and CS-200. In order to detect Crazyflie u...

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