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Published 20 hours ago • verified publisher icon uzh-rpg

CPU Board attached to the Bebop drone

Open mandelyoni opened this issue 6 years ago • 15 comments

Hi,

Which CPU Board is recommended to attach to the Bebop drone for running the net? If available, please share a link.

Thank you.

mandelyoni avatar Oct 10 '18 10:10 mandelyoni

Hi, We are using the Intel UpBoard (https://up-shop.org/27-up) for onboard computation.

antonilo avatar Oct 18 '18 09:10 antonilo

Thank you for the prompt response. By the way, are you going to sell the small docking board with Dronet for the crazyflie soon?

mandelyoni avatar Oct 27 '18 13:10 mandelyoni

We do not plan to sell it since we are still in development phase. While the board can be already purchased, the integrated system will follow in the (hopefully) near future.

antonilo avatar Oct 29 '18 10:10 antonilo

Hi, thanks for your answer. Which board, did you mean, can already be purchased? Is it straight forward to implement the the Dronet on it?

mandelyoni avatar Oct 29 '18 11:10 mandelyoni

The PULP board that runs dronet in Ultra-low power can already be purchased. Implementation of the algorithm that is highly non-trivial, but we are currently on it. We will soon share our findings and implementation.

antonilo avatar Oct 29 '18 12:10 antonilo

Hi Antonilo,

Can you please share an explanation/description of how to connect the Up-board to the Bebop2?

Thanks, Yoni

mandelyoni avatar Nov 01 '18 04:11 mandelyoni

I would argue that the easier way to do it is using ROS. This is however not the only one and for sure not the best one in term of performance.

antonilo avatar Nov 12 '18 14:11 antonilo

Thanks, but I meant how connect the Up-Board physically to the drone (power and communication)?

Thanks again, Yoni

mandelyoni avatar Nov 12 '18 15:11 mandelyoni

We have an external battery to power the Up-Board and communication happens via WiFi and ROS. Hope this helps!

antonilo avatar Nov 20 '18 09:11 antonilo

Hi Antonilo,

Is there a big difference in the performance between running the algorithms on the UpBoard or on a laptop ? In most of your videos we didn't see the UpBoard connected to your drone? Can you please explain why?

Thank you, Yoni.

mandelyoni avatar Nov 20 '18 10:11 mandelyoni

In the original dronet video, computation was done off-board in a laptop. In our last projects, all computation has been shifted to fully on-board: Deep Drone Racing, Beauty and the Beast. The minimum inference time required to give good behavior is generally 8-10Hz.

antonilo avatar Nov 20 '18 10:11 antonilo

Hi Antonio, In your paper, DroNet: Learning to Fly by Driving, in Table 3, you make a comparison with Gandhi et al. Did you also implement their algorithm? Thank you, Yoni

mandelyoni avatar Dec 01 '18 19:12 mandelyoni

Yes, we've re-implemented their algorithm as described in the paper.

antonilo avatar Dec 02 '18 16:12 antonilo

Ok, thank you.

mandelyoni avatar Dec 02 '18 18:12 mandelyoni

Hi Antonio, Did you run Ubuntu 16.04 with ROS on the Upboard? Is the simple version of the board adequate (https://up-shop.org/up-boards/272-up-board.html)? Thanks, Yoni

mandelyoni avatar Dec 03 '18 05:12 mandelyoni