University of Zagreb, Faculty of Electrical Engineerign and Computing is the leading scientific organization in Croatia in the fields of electrical engineering and ICT. Current research and educational staff comprises more than 170 professors and 230 teaching and research assistants. UNIZG-FER has been, and is, involved in research projects, financed by EU (FP6, FP7, H2020), Croatian Science Foundation, foreign and domestic governments and industry. UNIZG-FER strategy is available at http://www.fer.unizg.hr/images/50015227/Development%20Strategy%20FER%202013%20-%202017.pdf
UNIZG-FER is a Research member in the BladeHunters Team. The role of UNIZG-FER in the project is to develop and implement technology to be used by the end-user. Our team participates in all 3 tasks and has leading role in Task T1. Particularly, our members will work on 3D SLAM algorithm, MAV pose estimation, trajectory planning and control, development of the Blade Capture System, design and building a mockup testbed, and experimental verification of the proposed system.
Mapping system that uses local maps consisting of RGBD measurements, i.e. planar features extracted from them, has been developed, and the solution using 3D points obtained from stereo camera. Special focus was given to the observability analysis of SLAM, active SLAM (combining SLAM and exploration) and reduction of SLAM computational complexity. In aerial robotics UNIZG-FER team members designed technology for complex aerial manipulation tasks, such as insertion, valve turning, tool handling, etc. As manipulator movement changes the centre of mass and the moment of inertia, adaptive controller, is designed so that the resulting MAS remains stable at all times. Furthermore, UNIZG-FER team developed consensus based algorithms for multiple MAVs mission planning. The driving force is the idea that some MAVs are more versed in certain tasks, such as communication, data processing, localization, grasping or trajectory tracking. UNIZG-FER team puts the accent on experimental validation of developed methods.