IMAV 2019, Madrid, Spain

This page contains codes and resources for the IMAV 2019 Outdoor Challenge

IMAV 2019 was the 11th International Micro Air Vehicle Competition and Conference, held from 30th October to 4th November in Madrid, Spain.

Problem Statement

7MB

IMAV PS.pdf

pdf

Proposal For IMAV2019

5MB

imav_report.pdf

pdf

This contains the approach proposed by the Team for the Outdoor Challenge before the competition.

Software Stack

The complete software stack is available on Github. It contains all the modules we have used:

• https://github.com/AerialRobotics-IITK/imav2019

General Overview of the modules used:

• Planner: A Finite State Machine implementation using the Boost C++ libraries for decision making, state transitions and actions during the mission.

• Detector: A detection and pose estimation module to detect the colored mailboxes in the field.

• Helipad Detector: A Helipad Detection module for accurate and precise landing on a helipad.

• Router: A message reception, checks and feedback system for keeping track of the detected mailboxes between the UAVs. Implemented with help of the multimaster_fkie package used to sync messages among the UAVs.

• Collision Avoidance: A collision avoidance module for a multi-UAV system.

• Feature Detector: A feature detection module for detection of a house roof and a crashed UAV.