Jarvis-X / Aerial-Robotics-Course-Projects

Aerial-Robotics-Course-Projects

HW1 - A point mass goes down a parabola then falls freely

• For interactive notebook, go to https://colab.research.google.com/drive/1SNLn41Jt0Q0HoxVbntAPTlg0CzSwHGLp?usp=sharing

• Important parameters:

  • In the first cell, we can change the friction coefficient, damping factors, mass, and even gravity. We can also choose to enable/disable the fiction and damping effects.
  • In the last cell, the variable sampling controls the ratio of visualization samplings. For example, sampling = 10 means every 1 out of 10 data points are visualized.

HW2 - position and attitude controller

• Part a: launch a projectile on a ramp with not parallel force input
  • For interactive notebook, go to https://colab.research.google.com/drive/1HlUETEldiHSXAVo6sqwZfGaZCL3xcmWI?usp=sharing
  • Important parameters:
    • In the forth cell, we can set the relative position of the target to the end of ramp by changing x_t and y_t
• Part b: place a rod with care
  • For interactive notebook, go to https://colab.research.google.com/drive/1YxV9Z6BHG0ghsUX1eXtSjnWWXJkrLoBd?usp=sharing
  • Important parameters:
    • In the first cell, we can set the desired state of the rod by modifying des_state whose unit is [rad, rad/s]

HW4 - 2D mutirotors

• Part a: controlling a fully-actuated rigid mutirotor system. Notebook file: CS498HW4Single.ipynb

  • For interactive notebook, go to https://colab.research.google.com/drive/11i3Ypmu5VCZX0gJVKHburbBzGW0hQmkq?usp=sharing
  • Important parameters in the first cell:
    • inertia: I
    • mass m
    • Do we want constains? en_constrain = False This somehow affects the performance very badly.
    • number of motors n
    • position of the thrusters p
    • tilting angles of the propellers alpha

• Part b: controlling a fully-actuated mutirotor system that consists of two rigid segments. Notebook file: CS498HW4DoublePen.ipynb

  • For interactive notebook, go to https://colab.research.google.com/drive/1JBnZ6BNrV6XSq7xZNsVIBRgbU44lQprr?usp=sharing
  • Important parameters:
    • In the first cell, we can set the masses of the two segments of rods by changing m1, m2; the half length of the rod can be changed by modifying l.
    • We can also change the tilting angles of the inner propellers by altering alpha and beta
    • en_constrain = True gives us a peek over the effects of the limited thrusts

HW5 - 2D trajectory follower

• For interactive notebook, go to https://colab.research.google.com/drive/1wLVfaOgR0UJhEyLk7uqlbRGVnMFmB2a5?usp=sharing

HW6 - 3D magic box

• Note the changes we made in magicbox.ttt. Notebook file: CS498HW6MagicBox.ipynb
  • For interactive notebook, go to https://colab.research.google.com/drive/1C4iBLhZsbcEgFsV4vO2uo_RFEP4m82am?usp=sharing

HW7 - Omni-HModQuad

• Note the notebook file CS498HW7OmniPlus.ipynb works with the CoppeliaSim file propeller8.ttt under thois repository. It may work with the original propeller8.ttt provided by the professor.
  • For interactive notebook, go to https://colab.research.google.com/drive/1II4TMzxL9sNCK_McUVR4cQXTqVpIp3iY?usp=sharing