We at the IVDC Club are elated to be part of IITISoC '22 for the first time ever! IITISoC is an excellent opportunity for the students of IIT Indore to enhance your skills and get started with Open-Source Contribution. We present to you projects in Autonomous Driving, Industry 4.0, Autonomous Underwater Vehicles (AUVs) and Unmanned Aerial Vehicles (UAVs).
- Autonomous Driving: Self-Driving Cars and ADAS
- Smart Warehouse Transportation (Industry 4.0)
- utonomous Underwater Vehicles (AUV)
- Unmanned Aerial Vehicles
Description: While on the highway, the monotonous speed control is a bit tiresome for drivers (especially for long distances and longer durations). Lane Assist and Adaptive Cruise Control (ACC) features can help the drivers in these situations. Depending on the actions of other objects/vehicles in the car's immediate vicinity, these systems can slow down and stop the vehicle when required.
Specifications:
- Computer Vision Pipeline for Lane detection should be efficient in detecting the free path on the road.
- Motion planning and control systems are needed to steer the vehicle to have the least cross-track error and automatic lane centering.
- Bonus points for an active obstacle avoidance system to change lanes and avoid other cars in the lane.
Description: Autonomous valet parking requires the vehicle to perceive, plan aSmart Warehouse Transportation (Industry 4.0)nd execute the necessary motion to cars in parking areas. The sensors on the vehicle provide the vehicle with information about its current position and the current conditions of its surrounding environment. Using this information, vehicle control should be evaluated.
Specifications:
- The sensors present may be LiDAR, RGBD camera, and ultrasonic sensors.
- The vehicle must be able to park under challenging arrangements and even in cramped spaces, keeping in mind the ease of moving out of the parking space.
Description: Design a plug-and-play Computer Vision Package in Python, implementing multiple applications for self-driving cars.
Specifications: Implement APIs that could achieve
- Object Detection (cars, bikes, pedestrians, traffic lights, signs) for driving scenes.
- Lane finding
- Image Segmentation
- Object Tracking
Description: In most warehouses, AGVs are used for transporting packages for different tasks (sorting, packaging, labelling, etc.) in a warehouse. The task is to design a grid-based system for handling pick-and-place tasks that are an integral part of the in-warehouse shipping system.
Specifications:
- The AGV can be an open-source model or custom-made with the basic functionality of a warehouse AGV.
- A simulation of the warehouse demonstrating the task is to be made.
Description: In warehouse conditions, only AGVs cannot cater to all the material transport requirements. For some of the unorthodox manoeuvres like barcode scanning and inventory auditing, and packaging, Manipulator's arms are required. These two systems (AGV and Manipulator Arm) must coordinate well for a fully autonomous warehouse setup. Designing robust, efficient, and fast algorithms is the key to solving these problems.
Specifications:
- You are free to choose between ROS1 and ROS2 for this task.
- Tasks should be demonstrated in a simple simulation environment.
Description: Large Warehouses (such as those of Amazon) are highly dynamic environments with many moving objects. Autonomous Mobile Robots (AMRs) with 3D LiDARs and other sensors are deployed to move goods around the warehouse for efficient material movement in a robust and fast manner. Since there are also people working around, these advanced robots have to perceive the environment, make intelligent decisions and make judgments of static and dynamic obstacles (or other robots) around it to avoid collisions and hazards. LiDAR-based obstacle avoidance and dynamic tracking systems must be deployed with a robust decision-making architecture.
Specifications:
- Any 3D LiDAR may be used (Ouster OS series or Velodyne Puck).
- Assume the robots are slow-moving.
- A C++ based collision avoidance and planning module is preferred for such high-speed and high-accuracy tasks.
- A few scenarios may be simulated with the developed software stack.
Description: Underwater Surveys are an important part of data collection and research. Manual surveys have certain limitations and some risks involved with them. This is where an AUV can help obtain high-quality data without causing much trouble, but navigating underwater can be highly challenging. The task is to develop an algorithm for navigating from a specified start point to the endpoint, avoiding obstacles in the path.
Specifications:
- The AUV would have cameras, depth sensors, DVL, 9DOF IMU (AHRS), etc.
- The AUV must have an 8-thruster configuration.
- Use a suitable simulator for implementing and testing your implementations.
Description: TATA 1mg is a pharmaceutical company that delivers medicines at the doorstep via their courier executives. Delivery drones can achieve the same task with a fraction of the cost, especially since the payload is minimal. An optimised delivery system should be ideated for a drone fleet to plan out the delivery providing the routing and mission-path planning.
Specifications:
- The drone environment from the warehouse to the doorstep will be simulated. There may be multiple houses in a locality for which the trips need to be planned.
- The simulation should also log major events with individual timings so that the performance of the whole process can be analysed.
- Brownie points: Solving the problem involving the constraint of limited battery time of the drone.
Description: IIT Indore has a considerable land area under thick forest cover. In the blazing hot summers of Indore (as we all have experienced), there are chances of bushes catching fire and escalating to a forest fire. To prevent it, an aerial surveying drone equipped with infrared cameras and other sensors can be used to predict the areas which are potential hotspots.
Specifications:
- Recognize abnormally high-temperature spots of the forest cover to detect and signal the ground station immediately.
- Identify high-risk areas that generally have higher temperatures than average.
- Bonus Points for generalising the approach for detecting animals (such as wild boar herds and leopards) on our campus.
Description: Mountain roads generally run across hills with deep valleys on either side, and they are cramped so tightly that it is challenging for more than one vehicle to pass through them at a time. The road becomes almost invisible in Ladakh and near the Indo-Sino border after a snowfall. As China poses an increasing threat to security, the Indian army must be cautious and plan before moving. Also, the path must be free of any army bases or other establishments across the border. UAVs are used to ensure safe and clear ways for the movement of military and border security personnel.
Specifications:
- The challenge is to develop an Unmanned Aerial Vehicle (UAV) capable of mapping mountainous terrain.
- The UAV can have a downward-facing RGBD camera (or even LiDARs), 9DOF IMU sensor, and GPS.
- The task must be completed in simulation using ROS and Gazebo with a flight controller (such as Ardupilot or PX4).
- Bonus points for applying the mapping technique to guide military vehicles in fog and heavy snow.