Current Work Updates!
Trajectory following Crazyflies with Vicon based localization.
by MURO lab
Posted on Dec 14, 2023
MS student Mihir Kulkarni deployed tradjectory following using the Crazyflies. The Vicon IR cameras were used to track the reflectors placed on top of the drones.
Dodging dynamical obstacles using Turtlebot4 camera feed
by MURO lab
Posted on Aug 25, 2023
ISRP intern Wayne Chu deployed dynamic RRT* and unicycle controls to avoid dynamic obstacles. Obstacles were detected using Luxonis deep learning models on OAK-D camera onboard Turtlebot4.
Q-learning for multi-agent path planning
by MURO lab
Posted on Aug 25, 2023
ENLACE interns Julieta and Joaquin deployed trajectories computed with Q-learning to avoid robot and obstacle collision.
Mapping on occupancy grid with Iterative Closest Point algorithm
by MURO lab
Posted on Aug 25, 2023
ENLACE interns Yoatzin and Ziyun implemented mapping on occupancy grid with Iterative Closest Point. The code was originally developed in simulation by GEAR interns Dave and Christopher.
Multi-robot cycling with Turtlebot4s
by MURO lab
Posted on Aug 25, 2023
Saimai Lau implemented multi-robot cycling on three Turtlebot4s, with appropriate coordinate transformations.
GEAR program interns implement offline LiDAR mapping on Turtlebot4
by MURO lab
Posted on June 28, 2023
MURO lab hosted undergraduate students as interns in winter-spring quarter. Dave and Chris implemented mapping algorithm from LiDAR data in conjunction with ICP for localization.
ENLACE and ISRP interns integrate marvelmind positioning to Turtlebot2
by MURO lab
Posted on Sept 8, 2022
MURO lab hosted undergraduate students as interns last summer. Natalia and Anthony joined us via ENLACE to implement localization algorithms. Pamica joined us via ISRP to integrate Marvelmind localization for controlling turtlebot movement.
MuroCopter development-II
by MURO lab
Posted on Sept 30, 2018
We tested the MuroCopter with the new displays, and it looks set to communicate visually.
STARS, ENLACE and UCSD interns at MURO
Posted on August 15, 2018
MURO lab hosted undergraduate students as interns over the summer. Ricardo and Doni joined us from ENLACE program, and Mauricio and Tareq from STARS program. Wales and Diego joined us in the summer and have continued to work on localization and controls implementations respectively.
MuroCopter development-I
by MURO lab
Posted on June 30, 2018
MURO lab has been developing an in-house drone for testing. We completed the initial frame and tested automatic ascent-descent trajectories. Thanks to Stuart Sardo for leading the initial work on this frame design.
Human directed heterogenous swarms
by Jacobs School of Engineering
Posted on Jan 25, 2018
MURO lab presented the landing of a Parrot drone over a moving turtle bot. The landing sequence was based on drone mounted camera inputs of ArUco markers on turtle bots. The movement was human guided by a gesture recognition algorithm on Myo armband.
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