University of Klagenfurt
General Information
University of Klagenfurt (AAU) regards itself as a centre of research within the Alps-Adriatic region, bringing together researchers from a variety of disciplines and geographic territories. The faculty of technical sciences has a research focus on networked and autonomous systems. The faculty comprises research groups in mobile systems, wireless sensor networks, pervasive computing, embedded systems, telematics, mathematics and informatics. This provides an excellent environment for the topics addressed in SAMURAI. The Institute of Smart Systems Technologies at the faculty of Technical Sciences contributes with the research group for Control of Networked Systems (Univ.-Prof. DI Dr. Stephan Weiss).
Control of Networked Systems Group
The Control of Networked Systems (CNS) research group at the University of Klagenfurt (AAU), has a long-year experience in state estimation, navigation, and control of (mobile) robotic systems. CNS not only brings its expertise in this field to the project but also leverages the vast experience in successfully leading and participating in FFG projects across different funding programs. The group has a specific focus on real-time visual-inertial state estimation for computationally constrained platforms in GNSS denied environments, multi-modal sensor fusion, and control for aerial platforms. The track record includes the first visual-inertial navigation algorithm for small aerial vehicles and the contribution to the navigation method for both the NASA Mars Helicopter Scout project launched in 2020 and the ongoing efforts for its successor proposal. Recent research efforts led to seminal work on information aware trajectory planning for improved state estimation and control, and on visual-inertial state estimation on low-texture areas.
Role of the partner within SAMURAI
The main technical contributions by CNS are regarding the minimal state estimation on the base of equivariant estimator theory. CNS will focus on finding a suitable Lie symmetry to map the estimation problem onto that symmetry for performance increase in convergence, initialization insensitivity, and consistency. The corresponding problem is, indeed, highly challenging: The symmetry should allow not only system equivariance but also input and output equivariance such that the full potential of the equivariant estimator design can be leveraged. CNS will not only elaborate on the theory of this new symmetry and the estimator design but also develop the actual statistical estimator in simulation (Matlab) and C++. The final version will be tested and validated first on research UAV platforms in the Dronehall of the University of Klagenfurt, then on the AURIX. Real-world tests in the Dronehall will provide statisically relevant evidence of the performance of the new approach.
CNS will also support UAS TW in integration aspects for overall system. As a university, AAU and thus CNS will strive to publish class A+ journal and conference papers as well as supporting the overall consortium towards best international visibility of the project.
Contact Information
For any questions related to the project FFG Safe Multicopter for Reliable Aviation (SAMURAI) please feel free to contact Stephan Weiss.