Aetournos4Euroc

Organisation: Université de Lorraine, LORIA, MinesNancy

Website: www.loria.fr

Address: Campus scientifique, (Bâtiment Loria), Rue du Jardin Botanique BP239, 54506 Vandoeuvre lès Nancy, France

Contact: Laurent Ciarletta (Tel: +33 (0)672016434, laurent.ciarletta(at)loria.fr)

Other Staff:

  • Adrien Guenard (self)
  • Yannick Presse (INRIA Nancy-Grand Est)
  • Ceili Hoffmann (INRIA Nancy-Grand Est)

 

Team Profile:

The team is composed of scientists and engineers (CS, robotics, automation, electronics) that have been working on UAV/UGV or aeronautics for several years. The Airborne Embedded auTonomOUs Robust Network of Objects and Sensors (AETOURNOS) platform is the core project that brings us together. Its main goals are: conducting research in swarming/flocking of UAVs, and using this as an application domain for other researches. We are developing solutions using co-simulation SITL/HITL with a strong final ambition to work independently of exogenous localization systems (MoCap or GPS). The platform consists of 2 Pelican and 6 Firefly UAVs from Ascending Technologies and many Parrot AR Drones [see images 1, 2, 3 and 4]. We are using ROS and our own tools (described in [5]). The team can also get support from other researchers from the Loria and more generally from Université de Lorraine (U.d.L.) as well as of students engineers or Master students.

Laurent Ciarletta, associate professor at MinesNancy/U.d.L, is leading the Aetournos, R2D2 (Resources and Research for Drone Development) & 6PO (Collaborative cyber physical systems and safe/robust control for UAV formation flying [see images 5 and 6]) projects at U.d.L. He has continuously managed projects with Master students (Mines-e-drones/JaSMinesDrones) since 2007. They are all about fully autonomous and collaborative UGVs/UAVs. JaSMinesDrones, R2D2 and 6PO are collaborative projects with other universities or laboratories, while Aetournos is a multidisciplinary research project and toolkit for all the computer science fields represented at Loria.

Yannick Presse and Adrien Guenard were both engineers on the Aetournos platform. Adrien Guenard has worked in autonomous vehicles since the Cristal (Cellule de Recherche Industrielle et Système de Transports Automatisés Légers) project and has been teaching ROS for the last 2 years at Master degree levels. He was the associate professor responsible for robotics at CPE Lyon in 2012/2013.

Ceili Hoffmann comes from Boeing R&D and is currently the expert engineer at INRIA responsible for the R2D2 platform. She is a specialist in embedded systems and communication and works on vision algorithms and path planning.

Regarding challenges, we are qualified for the second round of the UAV Challenge “Outback search and rescue 2014”) with other volonteers under the “Team aetournos” umbrella. Loria was part of the team that won the Carotte (CArtographie par ROboT d’un TErritoire, Mapping with robots of an unknown territory) challenge (with other members of Loria than this team). Laurent Ciarletta has won in 2013 the France National Emerging Innovative High technology Businesses with the Alerion project (Advanced services by and for drones), presently in a maturation phase.

In summary, regarding the challenge, the team has experience in: Developing with the asctec firefly using the ROS environment since 2012 (https://dl.dropboxusercontent.com/u/497251/Aetournos4Euroc/DronesForAetournos4Euroc.mov) using co-simulation platforms; participating to autonomous vehicles challenges, collaborative autonomous flight /behavior, vision-based, RGB-D and LIDAR detection/ SLAM (with the guidance and help of other Loria members). The software development platform can be seen in [images 7, 8 and 9]. We are very complementary but can also count on an ecosystem of researchers, scientists, engineers and Master students. Web sites (not up to date): aetournos.gforge.inria.fr

References:

  • [5] L. CIARLETTA, A. GUENARD, Y. PRESSE, V. GALTIER, Y.Q. SONG, J.C. PONSART, S. ABERKANE, D. THEILLIOL, "Simulation and Platform Tools to develop safe flock of UAVs: a CPS Application-Driven Research". In International Conference on Unmanned Aircraft Systems, 2014 phase.

Image 1

Drones squadron

Image 4

Mini squadron aetournos platform

Image 7

Aetournos software

Image 2

Drone cage

Image 5

3 drones in formation

Image 8

Detection colored cube in simulation

Image 3

Drones squadron outdoor

Image 6

2 drones in formation

Image 9

Detection SLAM in simulator


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02.08.2018

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2018-06-29 09:29 CET

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