Indoor Autonomous and Multi-Unmanned Aircraft Systems
ระบบอากาศยานไร้คนขับอัตโนมัติภายในอาคารและระบบอากาศยานไร้คนขับหลายลำ
Course description
localization in GNSS-denied environments, mapping and SLAM, obstacle avoidance, path planning, multi-aircraft communication and coordination, task allocation, formation flight, collision prevention, and testing of multi-UAS autonomous systems
Thai description
การระบุตำแหน่งในสภาพแวดล้อมที่ไม่มี GNSS การสร้างแผนที่และ SLAM การหลีกเลี่ยงสิ่งกีดขวาง การวางแผนเส้นทาง การสื่อสารและประสานงานหลายลำ การจัดสรรภารกิจ การบินเป็นรูปขบวน การป้องกันการชน และการทดสอบระบบอัตโนมัติหลายอากาศยาน
Course learning outcomes (CLO)
| CLO | Outcome | PLO |
|---|---|---|
| CLO1 | Configure navigation in GNSS-denied areas | PLO2 |
| CLO2 | Develop indoor avoidance and autonomous missions | PLO4 |
| CLO3 | Control and coordinate multiple UAS safely | PLO3PLO4 |
Learning modules
1Indoor positioning
Weeks 1–3 · 27 hLesson 80 minquiz1 KU
Online (before class) · 12 h
Study the assigned knowledge units in advance, review media and take the module quiz
- Indoor positioning systemsIn development
In class / field · 15 h
Intensive lab and field practice recorded in a lab notebook
2SLAM and sensor fusion
Weeks 4–6 · 27 hLesson 90 minquiz2 KU
Online (before class) · 12 h
Study the assigned knowledge units in advance, review media and take the module quiz
- SLAM and GNSS-denied navigationIn development
- State estimation with Kalman filters/EKFIn development
In class / field · 15 h
Intensive lab and field practice recorded in a lab notebook
3Obstacle avoidance
Weeks 7–9 · 27 hLesson 90 minquiz2 KU
Online (before class) · 12 h
Study the assigned knowledge units in advance, review media and take the module quiz
- Autonomous path planning and obstacle avoidanceIn development
- LiDAR, radar and obstacle-avoidance sensorsIn development
In class / field · 15 h
Intensive lab and field practice recorded in a lab notebook
4Multiple UAS
Weeks 10–12 · 27 hLesson 90 minquiz2 KU
Online (before class) · 12 h
Study the assigned knowledge units in advance, review media and take the module quiz
- Multi-UAV coordinationIn development
- From text and shapes to swarm trajectoriesTH
In class / field · 15 h
Intensive lab and field practice recorded in a lab notebook
5Warehouse and industrial applications
Weeks 13–15 · 27 hLesson 90 minquiz1 KU
Online (before class) · 12 h
Study the assigned knowledge units in advance, review media and take the module quiz
- Drones for warehousesIn development
In class / field · 15 h
Intensive lab and field practice recorded in a lab notebook
Assessment (draft)
| Laboratory performance | 50% |
| Reports and lab notebook | 20% |
| Practical examination | 30% |
Knowledge domain
Key references
- Cadena, C., Carlone, L., Carrillo, H., Latif, Y., Scaramuzza, D., Neira, J., Reid, I., & Leonard, J. J. (2016). Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age. IEEE Transactions on Robotics, 32(6), 1309–1332. link
- Chung, S.-J., Paranjape, A. A., Dames, P., Shen, S., & Kumar, V. (2018). A survey on aerial swarm robotics. IEEE Transactions on Robotics, 34(4), 837–855. link