Aerial Robotics Meeting - May 22nd 2025

Aerial Vehicles
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Hi all!

As announced we have moved this week’s meeting to next week, so we hope that is okay! With a couple of deadlines for ROSCon and Kilted tutorial party reciding on the same day we figured it was best to give ourselves some breathing room :wink:

Date and time: 2025-05-22T17:00:00Z→2025-05-22T18:00:00Z
Meeting link: https://meet.google.com/qfa-cqwh-jei
These meetings are posted on the ROS community calendar so make sure to add those to your calendar.

We will have a presentation planned this time! We will have Mihir Kulkarni, a PhD researcher from the Autonomous Robots Lab from NTNU talking about Aerial Gym Simulator, which the group has developed for training policies for control and navigation, like for instance neural controllers for PX4.

Here is a talk description:

Aerial Gym Simulator is a highly parallelized simulation and rendering framework for multirotor platforms. The framework supports the simulation of arbitrary embodiments with multi-linked airframes consisting of rigid, compliant and reconfigurable joints. Robust sim2real transfer is demonstrated for tasks relating to state-based control and exteroception-driven navigation. Open-source tools for deployment of policies are provided for both dedicated flight controller platforms and general-purpose onboard computers, facilitating seamless transition from simulation to physical hardware.

I’ll share an preliminary agenda next week, but mark the date already in your agenda. See you there!

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Here are the most recent preliminary agenda for the meeting of Thursday (and will also be used as notes)

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Here is the recording of last week’s meeting:

And here are the slides of Mihir’s presentation about Aerial Gym Simulator:
Aerial Gym Simulator - Aerial Robotics Meeting.pdf (3.0 MB)

And here are some accommodating links to the project:

Websites:

Videos:

  1. Aerial Gym Simulator: https://www.youtube.com/watch?v=VBVBQNtHZoc
  2. Neural-network mode for PX4: https://www.youtube.com/watch?v=lY1OKz_UOqM
  3. Semantically-driven Deep RL for Inspection Path Planning: https://www.youtube.com/watch?v=vAXLmalLo80
  4. Morphy - A compliant and morphologically Aware Flying Robot: https://www.youtube.com/watch?v=C6l7Vklbc9k

And the meeting notes have been uploaded to our github repository:

Next meeting will be 19th of June! We will announce it about a week in advance with the details. See you then