added more points

projects/vitarana_drone.md

@@ -1,24 +1,30 @@
 # Vitarana Drone 
 - Oct 2020 - Feb 2021
 
+## Team:
+- Rishav Singh
+- Kashyap Joshi
+
 ## Technology:
-  Python, ROS, Drone, Gazebo, Git Used Robot Operating System(ROS) for
-  Autonomous Drone based delivery system in a simulated Gazebo environment.
+- Python, Robot Operating System(ROS), Drone/Quadcopter, Gazebo, Git, Linux 
+- Control System - PID
+- Image Processing - QR Code Detection, Marker Detection
 
 ## Begining
-- eYantra Robotics Competition is an international competition 
-
-## Task
+- eYantra is an international robotics outreach program funded by the Ministry
+  of Education and hosted at IIT Bombay.
+- Total 2603 teams of 572 colleges in eYantra Robotics Competition 2020-21.
 
-## Moving Forward
+## Points to remember
+- Participated in eYRC in our 2nd year of BTech.
 - Started with 4 members but 2 left in between, we try to bring em on board but
-  it was unavoidable. So burden increased on 2 people.
+  it was unavoidable. So work increased on 2 people.
 - But still managed to divide the task in smaller, easily doable parts and
   divided according to the skills.
-- Kashyap didnt knew about OOP concepts in Python, so he managed to learn along
-  the way while implementing the tasks.
+- Kashyap didn't knew about OOP concepts in Python, so he managed to learn
+  along the way while implementing the tasks.
 
-### Task 1
+## Task 1
 - We had to make working position and altitude controllers and reach the given setpoints.
 - Took around 2 days to study the working of drone the roll, pitch, yaw and
   throttle mechanism.
@@ -27,21 +33,21 @@
 - Took more than 10 days to tune kp, ki, kd values for each direction and
   altitude untill we reached the satisfactory result.
 
-### Task 2
+## Task 2
 - Next we moved forward for the object avoidance algorithm.
 - We searched and studied about many path planning algorithms
 - Considering we were given 4 sensors on 4 sides with 25 meters range each.
 - Moved forward with using custom Bug algorithm for basic 2D object avoidance.
 - Made ROS action for scanning Bar code on the delivery box and deliver it to the
   scanned location
 
-### Task 3
+## Task 3
 - Improved the path finding algo for 3D environment to avoid objects by
   increasing the hight.
 - Used image processing for detecting the landing markers to precisely land and
   drop the box over specified safe height from the marker.
 
-### Task 4
+## Task 4
 - Now the work was to take delivery boxes from the warehouse grid and deliver
   it to the specified location
 - Perfected the marker scanning mechanism to increase drone hight to scan more
@@ -50,7 +56,7 @@
 - We were 1 day late to the deadline and had to make major changes in that
   single day of late submission with 25% penalty.
 
-### Task 5
+## Task 5
 - Final Arena for the theme was provided, task was to deliver and pick as many
   boxes possible within 8 minutes of time. And markings were calculated
   according to the distance of the box from the initial location of drone.
@@ -65,7 +71,7 @@
 - We also implemented velocity controller for gaining extra speed during no
   obstacle path.
 
-### Task 6
+## Task 6
 - Last task was same problem statement as Task 5 but more difficult delivery
   and pick locations and were given only 2 days for final submission unlike
   other tasks.
@@ -77,6 +83,7 @@
 - Got nice marks but were not in top 6 teams so did not reach finals.
 
 ## Conclusion
-- Although we only reached till the pre-finals round but learned lot of things.
+- Although we only reached till the pre-finals round but learned lots of
+  technical and team management skills for life.
 - Main difference between our solution and top 6 solution was that we focused
   more on stability over speed.