The Distributed Flying and Localisation Laboratory has been running since 2014 with the goal of creating a space where students can learn, experiment, and develop new ideas on the topic of Flying Machine and their Localisation. The project pursued by the students here always maintain a focus on how to handle the challenges of a distributed architecture when there are many agents simultaneously flying and localising. To give you an idea of our lab environment, this is a photo taken recently:
Goals of D-FaLLThe D-FaLL project aims at the real-world implementation of distributed estimation and control algorithms for a fleet of nano-quadcopters (the "Crazyflies"), and their localisation via Ultra Wide-Band (UWB) technology (the "Decawave module"). The focus is to build a system that truly embodies the complexities of distributed estimation and control. Therefore, each flying agent is able to take measurements with on-board sensors, make decisions via on-board computation, and communicate via an ad-hoc network. The goal for localisation is to develop a system that is based on low-cost, off-the-shelf components and enables an arbitrary number of flying agents to simultaneously estimate their location with sub-centimetre accuracy. Think of an indoor GPS system, but with increased accuracy and capable of being used indoors.
The D-FaLL project also aims at making all the underlying theory and experimental set-up open source and readily available. We will soon post a link here to a git repository with our latest stable-code, and we will resources explaining the underlying theory on the "Tutorials" section of this page.
The equipmentThe following is a collection of photos to briefly give you an idea of the equipment work with in D-FaLL.
Getting involvedIf you are excited about concepts we pursue here at D-FaLL, then see our open SA/MA projects. We look for students who are motivated by our goals, are committed to implementing algorithms on real hardware (this is often a time-intensive endeavour), and offer strong coding skills.