# About this Repo
In this repo, you find the theses and papers published as a part of the [CPS-VO] Challenge 2018. The competition requires Bachelor students to demonstrate that an autonomous UAV can search through the desert and pick up a dead UAV and restore it to the base. In this competition, "Team Halmstad" of Halmstad University secured second place and also won a special mention "Best UAV design award".
The team consists of 6 Bachelor students, 4 Doctoral students and an Assistant Supervisor.

![1_real_hexacopter_flight](https://user-images.githubusercontent.com/2436747/48282553-4b850b00-e45a-11e8-912e-9bd05bb5fb74.png)

# Theses
The drone which was named as F651 is a hexacopter built from a DJI F550 frame. The complete drone was built from scratch by six bachelor students as a part of their Bachelor thesis work. The coordinator from the University for the competition was [Maytheewat Aramrattana].
1. The [Drone] body, its grippers design and the complete hardware system were designed and built by two Mechatronics Engineering students - [Anders Bogga] and [Emil Andersson] supervised by [Wojciech Mostowski].

2. The [coverage] planning, object detection and pickup was developed by two Computer Science Engineering students - [Patrik Karlsson] and [Emil Johansson] supervised by [Mahsa Varshosaz].

3. The [altitude] control and obstacle avoidance was developed by two Electrical Engineering students - [Marcus Roden] and [Jakob Carlsen] supervised by [Yuantao Fan] and [Jennifer David].

[CPS-VO]: https://cps-vo.org/group/CPSchallenge 
[Drone]:http://www.diva-portal.org/smash/get/diva2:1216528/FULLTEXT02.pdf
[coverage]: http://www.diva-portal.org/smash/get/diva2:1218680/FULLTEXT02.pdf
[altitude]: http://www.diva-portal.org/smash/get/diva2:1229952/FULLTEXT02.pdf
[Anders Bogga]: https://www.linkedin.com/in/andersbogga/
[Emil Andersson]: https://www.linkedin.com/in/emiand/
[Emil Johansson]: https://www.linkedin.com/in/emil-johansson13/
[Marcus Roden]: https://www.linkedin.com/in/marcusroden/
[Jakob Carlsen]: https://www.linkedin.com/in/jakob-carls%C3%A9n-stenstr%C3%B6m-854901139/
[Patrik Karlsson]: https://www.linkedin.com/in/patrick-karlsson-6a2654141/
[Maytheewat Aramrattana]: https://www.linkedin.com/in/maytheewat-aramrattana-72417440/
[Yuantao Fan]: https://www.linkedin.com/in/yuantao-fan-b877563b/
[Wojciech Mostowski]: https://www.linkedin.com/in/wojciech-mostowski-85495567/ 
[Jennifer David]: https://www.linkedin.com/in/jennifer-david-a5787936/
[Mahsa Varshosaz]: https://www.researchgate.net/profile/Mahsa_Varshosaz2

# Citations
If you used any part of this work, kindly consider citing these theses: 

1. E. Andersson and A. Bogga, ‘Hexacopter with gripping module’, Bachelor's Dissertation, Halmstad University, Sweden 2018.
2. P. Karlsson and E. Johansson, ‘Object Identifier System for Autonomous UAV’, Bachelor's Dissertation, Halmstad University, Sweden 2018.
3. M. Roden and J. Carlsen, ‘Obstacle avoidance and altitude control for autonomous UAV’, Bachelor's Dissertation, Halmstad University, Sweden 2018.

# License
Distributed under BSD LICENSE.