# Inter-IIT TechMeet 9.0

## Inter-IIT TechMeet 9.0

#### Problem Statement

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VOAD Problem Statement
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#### Technical Report & Slides

This file contains our architecture and approach to the problem statement:

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Technical Report
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This file contains the slides presented after the competition:

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Slides
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#### Software Stack

The complete software stack is available on Github. It contains all the modules we have used:

* <https://github.com/AerialRobotics-IITK/inter_iit_dgre_voad>

**General Overview of the modules used:**

* **Explorer**: This Module Integrates the Takeoff, Landing, Detection and planning modules. Publishes final setpoints for landing of the quadrotor
* **Box\_Detector**: Uses the downward facing camera to detect the ArUco marker and calculate its position provided it has the id 0 using OpenCV.
* **Active\_Planner**: This Module is responsible for finding and evaluating frontiers in a 3D environment based on a TSDF (Truncated Signed Distance Function) map. It Then checks if there is a waypoint in the queue and if not, selects and adds the best frontier. If there is a waypoint, it generates a trajectory using a graph based search algorithm, tracks it, and if aborted, selects a new frontier for the process to repeat.
* **Broadcaster**: This module listens to the pose topic and broadcasts a transform from the "map" frame to the "base\_link" frame using TF2.

####