ST5 : Semi autonomous drone navigation Introduction J er emy Fix - - PowerPoint PPT Presentation

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ST5 : Semi autonomous drone navigation Introduction J er emy Fix - - PowerPoint PPT Presentation

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ST5 : Semi autonomous drone navigation Introduction J er emy Fix jeremy.fix@centralesupelec.fr Herv e Frezza-Buet herve.frezza-buet@centralesupelec.fr Thursday, 1 st september 2020 1 / 25 General information ? ? 2 / 25 General

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ST5 : Semi autonomous drone navigation Introduction

J´ er´ emy Fix jeremy.fix@centralesupelec.fr Herv´ e Frezza-Buet herve.frezza-buet@centralesupelec.fr Thursday, 1st september 2020

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General information

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General information

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General information

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Where to find informations ?

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General information

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Where to find informations ?

  • on the website

http://st5drone.metz.centralesupelec.fr

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General information

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Where to find informations ?

  • on the website

http://st5drone.metz.centralesupelec.fr

  • on the edunao page : expected soon…

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General information

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Where to find informations ?

  • on the website

http://st5drone.metz.centralesupelec.fr

  • on the edunao page : expected soon…

Ambitious but it is worth it

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General information

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Where to find informations ?

  • on the website

http://st5drone.metz.centralesupelec.fr

  • on the edunao page : expected soon…

Ambitious but it is worth it

  • free/open-source sofwares, real robots, and new scientific

concepts (designing control loops, handling and updating probabilistic models in robotics, …)

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General information

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Where to find informations ?

  • on the website

http://st5drone.metz.centralesupelec.fr

  • on the edunao page : expected soon…

Ambitious but it is worth it

  • free/open-source sofwares, real robots, and new scientific

concepts (designing control loops, handling and updating probabilistic models in robotics, …)

  • but it opens you new perspectives, and you will work with

REAL robots in real environments !

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Teaching team I : Come and see us ‼ Shared lectures: Automation and control

Jean Luc Collete, jean-luc.collete@centralesupelec.fr Office A002

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Teaching team I : Come and see us ‼ Shared lectures: Automation and control

Jean Luc Collete, jean-luc.collete@centralesupelec.fr Office A002

Elective lectures: System modeling

Virginie Galtier, virginie.galtier@centralesupelec.fr Office B308

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Teaching team II : Come and see us ‼ Specific lecture: Autonomous robotics

Francis Colas (INRIA Researcher) francis.colas@inria.fr

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Teaching team II : Come and see us ‼ Specific lecture: Autonomous robotics

Francis Colas (INRIA Researcher) francis.colas@inria.fr

Enseignement d’int´ egration

Jeremy Fix jeremy.fix@centralesupelec.fr Office B302 Herv´ e Frezza-Buet herve.frezza-buet@centralesupelec.fr Office B301

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Major topic : Autonomous robotics

Robot : ”An automatic device capable of handling objects or performing

  • perations according to a fixed, modifiable or adaptable program”,

Larousse

Industrial robots in deterministic environments

.

High speed controllers in partially/fully observed environments

. .

Stochastic environnements

. .

Low consumption, imperfect and slow devices

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Machine Learning Machine learning for perception : Deep learning Machine learning for action sequence : Reinforcement learning

Video To learn in depth machine learning, come in the 3rd year MDS/SDI major proposed in Metz !

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Seminars Introductory seminars

09/09 PM : ?N. Texier? (ANAFI Project leader) 18/09 PM : G. Beneux (SAFRAN engineer) Simulation and control/command 21/09 PM : J. Soulier (SAFRAN engineer) Drone system : context and feedback on the Patroller 23/09 AM : J.L. Jacquot (CEA Tech Grand Est director) 23/09 AM : A.S. Didelot (President, co-founder) Entrepreneurship in the UAV market: example of a startup All the partners 23/09 PM : Round table + drink! Evaluation

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Open source sofwares : Free open source sofwares

  • Ubuntu operating system (http://www.ubuntu.com)
  • Robot Operating System (http://wiki.ros.org)
  • Gazebo robotic simulator
  • Git, Latex, Makefiles, ….

The machines in the labs are setup but install your laptops as well !

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Open source sofwares : Free open source sofwares

  • Ubuntu operating system (http://www.ubuntu.com)
  • Robot Operating System (http://wiki.ros.org)
  • Gazebo robotic simulator
  • Git, Latex, Makefiles, ….

The machines in the labs are setup but install your laptops as well !

Ressources

  • Advised configuration on the st5drone page
  • Lab works on Tuesday 3rd
  • Tutorials : tutos.metz.centralesupelec.fr

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Lecture : Autonomous Robotics Content

  • 10 lectures (15 HPE), 2 tutorials (3 HPE), 7 labs (21 HPE), 1

exam (1.5 HPE). Total 40.5 HPE but 60 HEE.

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Lecture : Autonomous Robotics Content

  • 10 lectures (15 HPE), 2 tutorials (3 HPE), 7 labs (21 HPE), 1

exam (1.5 HPE). Total 40.5 HPE but 60 HEE.

Ressources

  • Lab works and tutorials on

https://colas.gitlabpages.inria.fr/st5 robotique autonome/

  • Syllabus, lab works and tutorials on edunao +

forums

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Lecture : Autonomous Robotics Tutorials and Lab Works

  • Intensive : → SLAM and navigation
  • Prepare the ROS tutorials before the first

practical ! (Friday 11th, see Lab Work 1)

  • In general, preparatory lab works to be done
  • n your own
  • (Advanced) Python tutorial on

tutos.metz.centralesupelec.fr

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Lecture : Autonomous Robotics Tutorials and Lab Works

  • Intensive : → SLAM and navigation
  • Prepare the ROS tutorials before the first

practical ! (Friday 11th, see Lab Work 1)

  • In general, preparatory lab works to be done
  • n your own
  • (Advanced) Python tutorial on

tutos.metz.centralesupelec.fr

Remote computers

In the practicals you will use high performance computers (Kyle) and get connected to it with NoMachine. → Demo More on tutos.metz.centralesupelec.fr soon

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Enseignement d’int´ egration General information

  • Topic : Semi-autonomous navigation of drones
  • Partner : Parrot
  • Subject on

http://std5drone.metz.centralesupelec.fr

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Enseignement d’int´ egration General information

  • Topic : Semi-autonomous navigation of drones
  • Partner : Parrot
  • Subject on

http://std5drone.metz.centralesupelec.fr

Ressources

  • Real drones in real environments
  • Hardwares : bebop2 lent by Parrot
  • Sofware in ROS, OpenCV
  • See the video demonstration on the website !

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Enseignement d’int´ egration In practice

  • Work in groups of 5 students → 6 groups
  • The subjects are prety well detailed and divided in subtasks
  • Each subtask is calibrated in duration
  • Work collaboratively (Git)
  • Evaluation : oral presentation with a result report (Latex, start

it early !)

  • Parrot will be atending the defense
  • Your grade will include a group and individual component

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