*Jan*

This is a screenshot of my EKF-SLAM code as it is right now. The blue line is the EKF estimate while the red line is the true trajectory. I took inspiration from https://github.com/lucarinelli/EKF_localization_python/blob/master/EKF_localization.ipynb and https://github.com/AtsushiSakai/PythonRobo...

*Jan*

We just submitted our new paper, Localization Algorithm with Circular Representation in 2D and its Similarity to Mammalian Brains. I am excited about the paper since we compare our paper to the methods based on Lie group. Hope the paper can get published!

*Jan*

For the past two weeks I have been examining the dynamics model in MATLAB. I separated the linear and angular state variables. When setting the angular velocity of the body to zero and the initial pitch angle to 0.3454 rad, the flyer is able to maintain its position in both y and z directions, while...

*Jan*

For this quarter, I will work with Tsangkai addressing on EM-SLAM problem. First half of quarter: Investigate EM-SLAM problem in detail. Validate the result from "EM-SLAM with Visual/Inertial Application" using Python. Try to achieve convergence of this algorithm. If unable to achieve, figure ou...

*Jan*

For the past week, Blaire and I were working on the paper writing for the analytical modeling of bistable buckled beams with off-center actuation. We worked together to clean up the derivation of our models and finalize Section "Resultes and Disccusion". So far we finished most of the work except...

*Jan*

Quarter Goals: Do more block tests with my model Use simscape to import CAD model and compare with results from mathematical model from the simulation. Work with Amir to set up autonomous quadcopters Study optimal control and see how it can apply to the single-motor flyer project Current Design of...

*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...

*Dec*

These past few weeks my role has been to add networking/communication to CoLo-PE (CoLo Physical Experiments). Previously when evaluating the performance of a localization algorithm, CoLo would infer the connection strength between each of the robots from the relative distance between each of them (...

*Dec*

This blog is a bit technical, but here it goes. The last blog focused on the write up side of my project, but this time, I will focus on how I attempted to replicate my 1/8th scale autonomous RC car results for my 1/32 scale vehicles. -Data Collection- The image above is an image straight fro...