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Decentralized Target Tracking using Swarms of Aerial Robots

Primary Information

Domain

Information & Communication Technology

Project No.

6439

Sanction and Project Initiation

Sanction No: F. No. 3-18/2015-T.S.-I (Vol. III)

Sanction Date: 31/01/2017

Project Initiation date: 24/03/2017

Project Duration: 36

Partner Ministry/Agency/Industry

Dept of Atomic Energy (DAE), Govt of India, Board of Research in Nuclear Sciences (BRNS), BRNS Secretariat, 1st Floor, CC, BARC, Trombay, Mumbai - 400085

 

Role of partner:Visited Variable Energy Cyclotron Center, Dept of Atomic Energy, Salt Lake, Kolkata on Oct 17, 2017 to discuss about the areas of interest. Invited during the recruitment of project staff.

 

Support from partner:Visited Variable Energy Cyclotron Center, Dept of Atomic Energy, Salt Lake, Kolkata on Oct 17, 2017 to discuss about the areas of interest. Financial support not received.

Principal Investigator

PI Image

ALOK KANTI DEB
INDIAN INSTITUTE OF TECHNOLOGY, KHARAGPUR

Host Institute

Co-PIs

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JAYANTA MUKHOPADHYAY
INDIAN INSTITUTE OF TECHNOLOGY, KHARAGPUR

 

Scope and Objectives

The project aims at developing a set of non-identical aerial robots, which can communicate with each other and track an object in 3-dimensions making formations according to the obstacles on the way. The robots are decentralized and the collection of robots can figure out collectively by communicating with each other, the optimal possible formations for tracking or performing the assigned task.

Deliverables

Simulation Platform for aerial robot swarms Aerial Robot System that can avoid obstacles and navigate using GPS Decentralized Swarm software capable of formation control and formation design using tracking performance Outdoor Global and Relative Localization Hardware and Software system

 

Scientific Output

i) Installation of the Workstation Geforce and configuring for using the Robot Operating System (ROS). ii) Tracking a moving target data taken from an aerial vehicle using Kernalized Correlation Filter. Algorithm being tested on benchmark UAV123 dataset.

 

Results and outcome till date

i) Installation of the Workstation Geforce and configuring for using the Robot Operating System (ROS). ii) Tracking a moving target data taken from an aerial vehicle using Kernalized Correlation Filter. Algorithm being tested on benchmark UAV123 dataset.

 

Societal benefit and impact anticipated

i) Support in hazardous environment. ii) Agricultural support iii) Drone delivery

Next steps

Implementing and tuning of PID controller for attitude and position stabilization. Launching multiple quadcopter in ROS gazebo simulation, attaching camera to them so that further interaction among quadcopters can be studied and implemented as well.

Publications and reports

Not yet

Patents

NO

Scholars and Project Staff

Ranjeet Kumar (Junior Research Engineer) - 1 year Himadri Sekhar Bhunia (Full-time Phd Student) - coursework completed Siddharth Shankar Jha (Dual Degree student) Satyabrata Sahoo (M. Tech student)

Challenges faced

Lack of trained manpower. Research challanges.

Other information

 

Financial Information

  • Total sanction: Rs. 16944000

  • Amount received: Rs. 6474000

  • Amount utilised for Equipment: Rs. 338839

  • Amount utilised for Manpower: Rs. 78902

  • Amount utilised for Consumables: Rs. 0

  • Amount utilised for Contingency: Rs. 108150

  • Amount utilised for Travel: Rs. 25107

  • Amount utilised for Other Expenses: 50000

  • Amount utilised for Overheads: Rs. 1079000

Equipment and facilities

 

Workstation with Geforce 1080Ti Pascal 11GB - 1 Crazyflie 2.0 Nano Quadcopter - 2 Crazyradio PA-long range 2.4 GHz USB radio dongle with antenna - 1 Crazyflie 2.0 LED ring expansion board-2