20 Nov

### EKF-SLAM Inconcistency Problem

For the past few weeks I have been looking at the EKF-SLAM inconsistency problem. I've compiled what I've found so far into a short literature review linked here . This includes some references for proposed modifications to the EKF-SLAM algorithm. Based on what I've looked at so far, the ways to r...

20 Nov

### P2P Messaging with PyBlueZ

The PyBlueZ library provides an easy to use interface for communicating over Bluetooth in Python. While Python has native support for Bluetooth with its sockets interface, it is only available for Python v3.3 and up. In addition the PyBlueZ provides a lower-level interface for Bluetooth that can b...

15 Nov

### Some materials for Lie group

Currently, I am studying Lie group to understand the application on localization. Here are some materials that I found very useful:B. C. Hall, Lie groups, Lie algebras, and representations : an elementary introduction,'' 2015. youtube lectures from Dr. Fredric Schuller The first book can be...

15 Nov

### SLAM Algorithms Overview - 1

This is part 1 of the slam algorithm overview focused on Kalman Filter related SLAM algorithms. It is aimed to provide readers some basic understandings on different SLAM algorithms and their relationships.

14 Nov

### Presentation for the Mechanical logic in ISER2018

Finally, our work of the mechanical logic was presented in the ISER, Nov. 2018. In this paper, we introduced the mechanism of the mechanical logic and demonstrated its ability to induce electrical current oscillation with a constant-current energy source. For more details, you can refer to our paper...

08 Nov

### Linearization Writeup

During the past week, I have been reexamining the linearization script I created for the attitude controller. The difference between results from my implementation and literature values might be attributed to 2 sources. The assumption that the propeller speed in the body frame relative to earth...

05 Nov

### Mechanical Logic Modeling Writeup

As I mentioned in the group meeting last Thursday, to better communicate what I have been doing with the modeling of one subsystem of the mechanical logic, I am writing up and summarizing my progress up until now. I included some pics from my writeup, but the full pdf will soon be on my personal pag...

31 Oct

### Implementation of Linearization

I have implemented linearization and LQR controller in the attitude control block. Previously, I tried to test the correctness of the dynamics block by trying to maintain hover after initializing the flyer at a hover posture. However, the flyer is only able to maintain the position for 06 seconds. B...

10 Oct