Arnav Singh - Academia.edu (original) (raw)
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Papers by Arnav Singh
2020 International Conference on Unmanned Aircraft Systems (ICUAS), 2020
The aim to colonize extra-terrestrial planets has been of great interest in recent years. For Mar... more The aim to colonize extra-terrestrial planets has been of great interest in recent years. For Mars, or other planets to sustain human life, it is essential that water is present and accessible. Mars may contain or provide signs of the possibility of near surface water, but this work will only focus on surface water for the purposes of simulation. In this paper, we present a method for autonomous navigation and detection of surface water bodies in the GPS denied environments of Mars via a fully autonomous UAV. A combination of existing state-of-the-art tools and techniques have been utilized to enable the development of this system. Additionally, we create a modular framework to simulate the mission using the AirSim simulation environment and the Robot Operating System (ROS). The simulation environment is leveraged by using the Unreal game engine running in Windows OS, interfacing with an open source software for simultaneous localization and mapping (SLAM), running on ROS and Linux ...
2020 International Conference on Unmanned Aircraft Systems (ICUAS), 2020
The aim to colonize extra-terrestrial planets has been of great interest in recent years. For Mar... more The aim to colonize extra-terrestrial planets has been of great interest in recent years. For Mars, or other planets to sustain human life, it is essential that water is present and accessible. Mars may contain or provide signs of the possibility of near surface water, but this work will only focus on surface water for the purposes of simulation. In this paper, we present a method for autonomous navigation and detection of surface water bodies in the GPS denied environments of Mars via a fully autonomous UAV. A combination of existing state-of-the-art tools and techniques have been utilized to enable the development of this system. Additionally, we create a modular framework to simulate the mission using the AirSim simulation environment and the Robot Operating System (ROS). The simulation environment is leveraged by using the Unreal game engine running in Windows OS, interfacing with an open source software for simultaneous localization and mapping (SLAM), running on ROS and Linux ...