Human-Embedded Autonomous Flight Under Formal Task Specifications
Master Thesis at École Polytechnique 2017
Abstract
We investigate Quadcopter autonomous navigation under formal task specifications in static or dynamic environments using correct-by-construction controllers
Type
Publication
Master Thesis Report at École Polytechnique 2017
- Design and build quadrotors based on the Snapdragon Platform with PX4 as the autopilot.
- Implementation of a fast trajectory generator for quadrotors based on the minimum snap approach and a new problem modeling to improve stability and speed
- Human interface with virtual reality and autonomous flight of a quadrotor via eye-tracking
- Tracking of stochastically moving targets using POMDP (Partially Observable Markov Decision Process) and human input
- Model checking and planning of UAVs autonomous missions with specifications written in linear temporal logic (LTL)
