1. Quadrotor Landing and Charging Justin Yim

2. Uses Aerial sensor platform Monitoring Surveillance Exploration Image from: http://spectrum.ieee.org/automaton/robotics/military-robots/aeryon-scout-quadrotor-spies-on-bad-guys-from-above

3. Quadrotor High power LEDs (red, blue) Crash guards Electrical contacts

4. Platform Camera Wire pad Electrical contacts

5. Vision: Image processing Parallelogram of known size LEDs located by brightness and color Quadrotor identified by parallelogram geometry Raw image Pixel colors and luminance Selected LEDs

6. Vision: Positioning Quadrotor location is calculated from the positions of the LEDs in the frame Pinhole Camera model Kalman filter Matlab 3D plot of a quadrotor flight

7. Vision: Control Onboard attitude control. Separate X, Y, and Z PID controllers

8. Demo!

9. Linux Matlab! C and C++ Mechanical design Solidworks Laser cutting Soldering Circuit analysis