As an Undergraduate Research Assistant in Dr. Bani-Younes' SPACE Laboratory at San Diego State University, myself and 3 other students developed an autonomous precision-landing F-450 quadcopter.

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To execute the precision-landing mission, the quadcopter was equipped a down-facing Raspberry Pi Camera Module to identify a fiducial marker using Python's OpenCV library. Upon identifying the marker, the outer-loop flight computer (a Raspberry Pi 4-B) would send commands to the inner-loop flight controller (a Pixhawk 1), which used a PID controller to make the necessary corrections while descending. Before deploying our Python control scripts onto the drone, a software-in-the-loop (SITL) simulation of the mission was performed in the Gazebo ROS physics simulator. For more details, view the research paper linked below.