Open Ended Project Ideas

NOTE: This post is being maintained over the projects-board available here. Feel free to check it out over there to stay updated! ;)

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1. Improve Simulator Support

Mentor - Shikher Verma
Priority - High
Description - Write gazebo plugins for improving simulator for underwater robotics. Improve robot SDF model design and add underwater random forces to simulate water flow current.

2. Vehicle Data Display

Mentor - Shikher Verma
Priority - Medium
Description - Expose current position and other information as a web page (maybe also as api) which users can open to view visual stats. Keep in mind that the connection is very unreliable so it should adhere to the rules of progressive web apps to work flawlessly.

3. Port CV Algorithms to OpenCV 3

Mentor - Jayant Agarwal
Priority - Medium
Description - Improve Computer vision algorithms and port existing ones to OpenCV 3. Currently our software depends on OpenCV 2 because that is officially supported by ROS but the next version of ROS will shift to OpenCV 3 and so should we.

4. Implement Robot Odometry and Sensor Data Fusion Algorithms

Mentor - Shibhansh Dohare
Priority - Low
Description - Currently we have sensor data from IMU, pressure sensor and camera feeds from front and bottom camera. Each stream of data has its own frequency and error range. The challenge is to fuse this data to predict with greater accuracy the position of the robot.

5. Inverse Kinematics using Machine Learning

Mentor - Siddhartha Saxena
Priority - Low
Description - Path planning gives us the trajectory of the most efficient path but to move on that path we have to fire up our actuators and accelerate in the right direction. This is done by Inverse Kinematics ie. mapping displacement to actuator voltages. The project involves implementation of automatic calibration tools using machine learning algorithms like SVM for automatically calibrating these mappings using simulator for acquiring test data.