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DroneDynamics

Adding autonomous capabilities to a inexpensive quadcopter by:

  1. Reverse engineering the communications between the drone and it's controller to control it from a personal computer.
  2. Learning the rigid-body dynamics of the quadcopter.
  3. Learning to estimate motion and depth from monocular image sequences.
  4. Path planning in the depth image space and controls using the learned dynamics model and MPPI.

Drone Information

Drone model: F180D

This drone model may be discontinued, though some can be found for second-hand sale online. The methods used to gain control of this drone can likely be reproduced on other inexpensive hobby drones.

IMG_4495

Drone Communication

Packet Sniffer

Decoding packets: Controls, Camera

Learning the Dynamics

Data collection setup, model

Learning Motion and Depth with Monocular Video

UnDeepVO

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