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<!DOCTYPE html>
<html>
<head>
<title>Aerial Robotics Kharagpur</title>
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<ul class="nav navbar-nav" data-0="margin-top:20px;" data-300="margin-top:5px;">
<li class="active"><a href="#home">HOME</a></li>
<li><a href="#overview">OVERVIEW</a></li>
<li><a href="#description">DESCRIPTION</a></li>
<li><a href="#timeline">TIMELINE</a></li>
<li><a href="#team">TEAM</a></li>
<li><a href="#joinus">JOIN US</a></li>
<li><a href="#contactus">CONTACT US</a></li>
</ul>
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<div id="home" class="box_round banner-text wow fadeInUp" style="background-color:rgba(0, 0, 0, 0.52);margin-top: 12em;" data-wow-delay="0.5s">
<h1>Aerial Robotics Kharagpur <br>
<span>ARK</span></h1>
<h2>We are an enthusiastic group of students working towards building autonomous aerial vehicles, based at Indian Institute of Technology Kharagpur.</h2>
<h2> We are advised by <a href="http://www.iitkgp.ac.in/fac-profiles/showprofile.php?empcode=abmYX">Prof. Jayanta Mukhopadhyay</a> of the Department of Computer Science and Engineering and <span><a href="http://www.iitkgp.ac.in/fac-profiles/showprofile.php?empcode=bUmdQ">Prof. D.K Pratihar</a></span> of the Department of Mechanical Engineering and are funded by the <a href="http://www.ttg-sric.iitkgp.ernet.in/sric/">Sponsored Research and Industrial Consultancy</a> facility of IIT Kharagpur as part of <a href="www.cferobotics.iitkgp.ac.in">Centre for Excellence in Robotics</a>, IIT Kharagpur. <br>The principal investigator for this project is <a href="http://www.iitkgp.ac.in/fac-profiles/showprofile.php?empcode=aVmWZ">Prof. Somesh Kumar</a>, President, Technology Students' Gymkhana</h2>
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<div id="overview" class="brief">
<div class="container">
<h4>OVERVIEW</h4>
<div class="col-md-6 brief-grids wow fadeInLeft" data-wow-delay="0.5s">
<center><img src="images/browse.jpg" alt="" style="border-radius: 12%"/></center>
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<div class="brief-grid-text">
<center><h3>Autonomous Flying Vehicles</h3></center>
<p>We aim to move the state-of-the-art in aerial robotics forward. Our drones, when ready, would be capable of autonomous flight, localization in GPS denied environments, tracking and interacting with mobile ground robots as well as other drones, and much more!</p>
</div>
</div>
</div>
<div class="col-md-6 brief-grids wow fadeInRight" data-wow-delay="0.5s">
<a href="http://www.aerialroboticscompetition.org/" target="_blank"><center><img src="images/browse2.png" alt="" style="border-radius: 12%"/></center></a>
<div class="brief-grid">
<div class="brief-grid-text">
<center><h3>International Aerial Robotics Competition</h3></center>
<p>IARC is the longest running collegiate aerial robotics challenge in the world. Entering its third decade, the competition continues to tackle challenges that are currently impossible for any flying robots owned by government or industry. We aim to participate in its next iteration.</p>
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<div id="description" class="brief">
<div class="container">
<div class="feature-text text-center">
<h3>PROJECT DESCRIPTION</h3>
</div>
<ul class="nav nav-pills">
<li class="active"><a data-toggle="tab" href="#overall">Overall</a></li>
<li><a data-toggle="tab" href="#software">Software Team</a></li>
<li><a data-toggle="tab" href="#controls">Controls Team</a></li>
</ul>
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<div id="overall" class="tab-pane fade in active">
<div class="body-description">
<p>ARK aims to develop a flexible aerial robotics framework which can be easily used to control aerial vehicles. Eventually, we want to move to multiple decentralised aerial robot swarms in an outdoors setting.
Currently, we have designed an architecture for IARC which we plan to optimise iteratively for participation.
</p>
<center><img src="images/desc/archi.png" height=350></center>
</div>
</div>
</div>
<div class="tab-content">
<div id="software" class="tab-pane fade in">
<div class="body-description">
The software team is responsible for developing algorithms in computer vision including localisation, object detection, tracking, path planning and 3D obstacle avoidance along with artifical intelligence algorithms for exploration and herding.
Current Areas of focus are:
</div>
<br>
<ul class="nav nav-pills">
<li class="active"><a data-toggle="pill" href="#object">Object Detection and Tracking</a></li>
<li><a data-toggle="pill" href="#ground">Ground Truth Validation</a></li>
<li><a data-toggle="pill" href="#grid">Grid Based Localisation</a></li>
<li><a data-toggle="pill" href="#flow">Optical Flow Localisation</a></li>
<li><a data-toggle="pill" href="#herd">Herding Simulation</a></li>
<li><a data-toggle="pill" href="#simu">Simulation Platform on Gazebo</a></li>
</ul>
<br>
<div class="tab-content">
<div id="object" class="tab-pane fade in active body-description">
<h5><b>Object Detection and Tracking</b></h5>
<p>
Object detection and tracking is widely used with applications in monitoring and surveillance. In IARC, the task requires us to guide ground robots towards a line. We plan to use a fisheye lens to see the whole arena and then track the ground robots, maintaining the trackers even when they are out of field of view. We are using Kalman filter for the tracking on the linear model of motion of the ground robots.
</p><br>
<center><img src="images/desc/kalman.jpg" height=450></center>
</div>
<div id="ground" class="tab-pane fade body-description">
<h5><b>Ground Truth Validation</b></h5>
<p>A true value of the robots position and orientation is a necessary metric to compare our algorithms of self estimation, detection and tracking. We are using two high-definition cameras fixed on the arena frame to get the depth of the desired object which will then be transformed into a global coordinate system of the arena.</p><br>
<center><img src="images/desc/depth.png" height=450></center>
</div>
<div id="grid" class="tab-pane fade body-description">
<h5><b>Grid Based Localization</b></h5>
<p>IARC is held in an indoor GPS denied environment so localization is a major challenge. IARC provides grids on the ground which can be detected and used to localize.</p><br>
<center> <img src="images/desc/grid.jpg" height=450></center>
</div>
<div id="flow" class="tab-pane fade body-description">
<h5><b>Optical Flow Localisation</b></h5>
<p>Optical flow is the pattern of apparent motion of objects, surfaces, and edges in a visual scene caused by the relative motion between an observer (an eye or a camera) and the scene. From the optical flow of a video feed, a path and trajectory of robot motion can be inversely computed, which is one of the most widely used ways of localisation in GPS denied environment.</p><br>
<center><img src="images/desc/flow.jpg" height=450></center>
</div>
<div id="herd" class="tab-pane fade body-description">
<h5><b>Herding</b></h5>
<p>IARC has an interesting AI aspect in it's problem statement which is to herd robots past the green line and avoid them crossing the red line. This brings an additional constraint of targetting the robots moving towards red line first and optimizing the attack behavior so that maximum robots can be herded across the line.</p><br>
<center><img src="images/desc/herd.jpg" height=450></center>
</div>
<div id="simu" class="tab-pane fade body-description">
<h5><b>Simulation on Gazebo</b></h5>
<p> Aerial Robots are inherently difficult to control and testing on real robots is not always feasible. Hence, a simulation platform on Gazebo which uses the Quad model and physics and also simulates sensor noise and environment is an important step.</p><br>
<center><img src="images/desc/Quad_simulator.png" height=450></center>
</div>
</div>
</div>
<div id="controls" class="tab-pane fade in">
<div class="body-description">
The Controls Team aims towards a smooth motion of the aerial robot in space and that they attain the desired speed and orientation avoiding obstacles. Current research includes:
</div>
<br>
<ul class="nav nav-pills">
<li class="active"><a data-toggle="pill" href="#pid">Two Layered PID</a></li>
<li><a data-toggle="pill" href="#low">Low Level Controller</a></li>
<li><a data-toggle="pill" href="#self">Self Estimation</a></li>
<li><a data-toggle="pill" href="#path">Path Planner</a></li>
</ul>
<br>
<div class="tab-content">
<div id="pid" class="tab-pane fade in active body-description">
<h5><b>Two Layered PID</b></h5>
<p>An aerial robot can control it's position in the form of roll. pitch and yaw but in the world frame, It gets an input or feed back in the form of X,Y and Z. So, a cascaded PID with self adjusting gains and parameters is the direction towards which we are working. We have got a naive PID over RPY and XYZ working on AR Drone and are working to shift to self-adjusting parameters.</p><br>
<center><img src="images/desc/pid.png" height=450></center>
</div>
<div id="low" class="tab-pane fade body-description">
<h5><b>Low Level Controller</b></h5>
<p>Low Level Controller includes the embedded system on the robot end where commands from the high level controller and processed and converted into Motor Commands. We have developed a MATLAB Simulink model for our own chassis and working on that to develop on of our controller. Also, we are trying to get Telekyb Near Hover Controller from Max Planck Institute of Biological Cybernetics to run on our own boards which control the motors. </p><br>
<center><img src="images/desc/low.jpg" height=450></center>
</div>
<div id="self" class="tab-pane fade body-description">
<h5><b>Self Estimation</b></h5>
<p>A robot should know where is it. Knowing the location of the robot in the world using onboard sensors is a major challenge in robotics. We are using IMU data along with vision information and SONAR sensors to fuse the information and get an estimate of our own position. We are constantly trying to improve this by comparing it with our true value setup and move the state of the art ahead.</p><br>
<center><img src="images/desc/self.jpg" height=450></center>
</div>
<div id="path" class="tab-pane fade body-description">
<h5><b>Path Planner</b></h5>
<p>The robots in order to perform some tasks needs to move from one place to another. During it's course of motion, it may deviate and the information from estimator and vision is noisy. Moroever, in order to fulfill the IARC problem statement, we need a time dependent trajectory generated and followed to optimally reach a ground robot and perform any action on it.
</p><br>
<center><img src="images/desc/path.png" height=450></center>
</div>
</div>
</div>
</div>
</div>
<div id="timeline" class="features">
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<h3>TIMELINE</h3>
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<h3>TEAM</h3>
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<li><a href="#" class="current btn-theme btn-small" data-filter="*">All</a></li>
<li><a href="#" class="btn-theme btn-small" data-filter=".controls" >Controls</a></li>
<li><a href="#" class="btn-theme btn-small" data-filter=".software">Software</a></li>
<li><a href="#" class="btn-theme btn-small" data-filter=".alum">Alumni</a></li>
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<article class="col-md-2 isotopeItem prof">
<div class="team-member" align="center">
<figure class="member-photo"><img src="images/somesh.jpg" alt="" /></figure>
<div class="team-detail">
<h3><a href="http://www.facweb.iitkgp.ernet.in/~smsh/">Prof. Somesh Kumar</a></h3>
<span>Principal Investigator, Department of Mathematics</span>
</div>
</div>
</article>
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<figure class="member-photo"><img src="images/jayanta.JPG" alt="" /></figure>
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<h3><a href="http://www.facweb.iitkgp.ernet.in/~jay/">Prof. Jayanta Mukhopadhyay</a></h3>
<span>Mentor,Department of Computer Science & Engineering</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem prof">
<div class="team-member" align="center">
<figure class="member-photo"><img src="images/dkp.jpg" alt="" /></figure>
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<h3><a href="http://www.iitkgp.ac.in/fac-profiles/showprofile.php?empcode=bUmdQ">Prof. Dilip Kumar Pratihar</a></h3>
<span>Mentor, Department of Mechanical Engineering</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem alum">
<div class="team-member" align="center">
<figure class="member-photo"><img src="images/pp.jpg" alt="" /></figure>
<div class="team-detail">
<h3>Aditya Agarwal</h3>
<span>Founder, Alumnus</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem alum">
<div class="team-member" align="center">
<figure class="member-photo"><img src="images/cb.jpg" alt="" /></figure>
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<h3>Chaitanya B</h3>
<span>Founder, Alumnus</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem alum">
<div class="team-member" align="center">
<figure class="member-photo"><img src="images/avr.jpg" alt="" /></figure>
<div class="team-detail">
<h3>Avinash Ruchandani</h3>
<span>Alumnus, Software Team</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem alum">
<div class="team-member" align="center">
<figure class="member-photo"><img src="images/githin.jpg" alt="" /></figure>
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<h3>Githin John</h3>
<span>Founder, Alumnus</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem alum">
<div class="team-member align-center">
<figure class="member-photo"><img src="images/mrinal.jpg" alt="" /></figure>
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<h3><a href="http://www.mrinalmohit.com">Mrinal Mohit</a></h3>
<span>Founder, Alumnus</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem software">
<div class="team-member align-center">
<figure class="member-photo"><img src="images/soumyadeep.jpg" alt="" /></figure>
<div class="team-detail">
<h3><a href="http://www.soumyadeepmukherjee.com">Soumyadeep Mukherjee</a></h3>
<span>Team Head</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem software">
<div class="team-member align-center">
<figure class="member-photo"><img src="images/sairam.jpg" alt="" /></figure>
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<h3>Sairam K</h3>
<span>Head, Software Team</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem controls">
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