Faculty Advisor

Cowlagi, Raghvendra V.

Faculty Advisor

Demetriou, Michael A.


This project involves the design and implementation of a feedback control system to enable a quadrotor unmanned aerial vehicle (UAV) to detect and track the motion of a terrestrial wheeled mobile robot. The detection of the terrestrial robot is enabled by a camera carried onboard by the UAV, in conjunction with unique identification marks placed on the terrestrial robot. Raw camera data is processed by an algorithm developed using the open source software library OpenCV, which is executed a Raspberry Pi embedded computer carried onboard by the UAV. To correct errors in the vision-based measurement of the position of the terrestrial robot, a Kalman filter is developed, which is also to be executed by the Raspberry Pi computer. Preliminary test results are reported.


Worcester Polytechnic Institute

Date Accepted

March 2016


Aerospace Engineering

Project Type

Major Qualifying Project



Advisor Department

Mechanical Engineering