CEAS-REU PROJECT # 1 MULTI-UAV COOPERATIVE CONTROL Michael Alio: Mechanical Engineering, California State Polytechnic University, Pomona Dan Champion:

Slides:

Advertisements

Similar presentations

Joshua Fabian Tyler Young James C. Peyton Jones Garrett M. Clayton Integrating the Microsoft Kinect With Simulink: Real-Time Object Tracking Example (

Advertisements

MicroCART Micro processor C ontrolled A erial R obotics T eam Abstract MicroCART is a group of EE/CprE students tasked with developing an autonomous helicopter.

Robotics, Intelligent Sensing and Control Lab (RISC) University of Bridgeport Department of Computer Science and Engineering Robotics, Intelligent Sensing.

Internet 2. Written & presented by: Martina Blackwood.

COORDINATION and NETWORKING of GROUPS OF MOBILE AUTONOMOUS AGENTS.

CEAS-REU PROJECT # 1 MULTI-UAV COOPERATIVE CONTROL Michael Alio: Mechanical Engineering, California State Polytechnic University, Pomona Dan Champion:

Prof. Kristofer S.J. Pister’s team Berkeley Sensor and Actuator Center University of California, Berkeley.

Current Works Overview Realtime Data Acquisition from Camera System – Direct to MatLAB(More on slide 2) – Streaming using NATNet Tracking Tools Axis Problem.

1. Scope of the Project Diagnostic tools are already being used by GE for compressor performance, but they are… – Too expensive – Time Consuming – Hazardous.

P10216 – Robot Navigation and Plant Platform Mahbubul Alam (CE) – Team Lead Corey Provencher (EE) – Technical Lead Marcus Gwillim (CE) Alan Olson (EE)

System for Engine Location Of a Web Train Paul Wimmer and Adam Weintrop Dr. Irwin and Dr. Schertz 4/3/06.

Sonitus Capture the imagination. Agenda Introduction Introduction System Overview System Overview Transmit stage Transmit stage Receive stage Receive.

Tracking Migratory Birds Around Large Structures Presented by: Arik Brooks and Nicholas Patrick Advisors: Dr. Huggins, Dr. Schertz, and Dr. Stewart Senior.

Automatic Control & Systems Engineering Autonomous Systems Research Mini-UAV for Urban Environments Autonomous Control of Multi-UAV Platforms Future uninhabited.

1 Link Characteristics in Sensor Networks. 2 Why Such a Study? (in)validate whether the basic model used in design is accurate or not  Remember you have.

Ameriranikistan Muhammad Ahmad Kyle Huston Farhad Majdeteimouri Dan Mackin.

Design of Autonomous Navigation Controllers for Unmanned Aerial Vehicles using Multi-objective Genetic Programming Gregory J. Barlow March 19, 2004.

1 Autonomous Controller Design for Unmanned Aerial Vehicles using Multi-objective Genetic Programming Gregory J. Barlow North Carolina State University.

Simultaneous Localization and Map Building System for Prototype Mars Rover CECS 398 Capstone Design I October 24, 2001.

Autonomous Robotics Team Autonomous Robotics Lab: Cooperative Control of a Three-Robot Formation Texas A&M University, College Station, TX Fall Presentations.

Computer Animation Rick Parent Computer Animation Algorithms and Techniques Motion Capture.

PhaseSpace Optical Navigation Development & Multi-UAV Closed- Loop Control Demonstration Texas A&M University Telecon with Boeing December 7, 2009 PhaseSpace.

Mobile Distributed 3D Sensing Sandia National Laboratories Intelligent Sensors and Robotics POC: Chris Lewis

Construction and Motion control of a mobile robot using Visual Roadmap

Computer-Based Trading Room Dec04-05 Client: ISU College of Business Advisor: Dr. Gerald B. Sheblé Team Members Steve Saillard Vipul Tiwari Dan Fitch Fahim.

Wave Relay System and General Project Details. Wave Relay System Provides seamless multi-hop connectivity Operates at layer 2 of networking stack Seamless.

Project #4: Simulation and Experimental Testing of Allocation of UAVs Tim Arnett, Aerospace Engineering, Junior, University of Cincinnati Devon Riddle,

Chapter 5 Engineering Tools for Electrical and Computer Engineers.

Networks of Autonomous Unmanned Vehicles Prof. Schwartz Presentation to Dr. Ponsford of Raytheon May 20, 2008.

Multiple Autonomous Ground/Air Robot Coordination Exploration of AI techniques for implementing incremental learning. Development of a robot controller.

Rotorcraft Handling Qualities and System Identification

SystemView by Elanix In Education.

Project #4: Experimental Testing of Allocation of Multiple UAVs Tim Arnett, Aerospace Engineering, Junior, University of Cincinnati Devon Riddle, Aerospace.

CEAS PROJECT #1: MULTI-UAV COOPERATIVE CONTROL Michael Alio, Mechanical Engineering, California State Polytechnic Pomona Emma Dorgan, Mechanical Engineering,

NC-BSI 2.3: Smart Border Systems for Localization and Tracking Problem Statement/Objectives Develop methods which will allow accurately, robustly and ubiquitously.

Artificial Vision-Based Tele-Operation for Lunar Exploration Students Aaron Roney, Albert Soto, Brian Kuehner, David Taylor, Bonnie Stern, Nicholas Logan,

Target Search Student: Freedwell Shingange Supervisor: Prof Antoine Bagula Co-Supervisor: Mehradad Ghaziasgar.

Highlights – Digital Literacy. An operating system (OS) is the most important program that runs on your computer. Every general-purpose computer must.

Symbiotic Simulation of Unmanned Aircraft Systems (UAS)

Centre for Mechanical Technology and Automation Institute of Electronics Engineering and Telematics  TEMA  IEETA  Simulation.

Distributed Systems and Algorithms Sukumar Ghosh University of Iowa Spring 2011.

Owen Macmann, Aerospace Engineering, Pre-Junior, University of Cincinnati Devon Riddle, Aerospace Engineering, Junior, University of Cincinnati Mahogany.

Advanced Scientific Visualization

Boundary Assertion in Behavior-Based Robotics Stephen Cohorn - Dept. of Math, Physics & Engineering, Tarleton State University Mentor: Dr. Mircea Agapie.

V Material obtained from summer workshop in Guildford County, July-2014.

Network UAV C3 Stage 1 Final Briefing Timothy X Brown University of Colorado at Boulder Interdisciplinary Telecommunications Program Electrical and Computer.

Multi-UAV swarming Advisor: Dr. Manish Kumar Mentor: Mr. Balaji Sharma

CHROMATIC TRAILBLAZER 25 th November, 2008 University of Florida, Department of Electrical & Computer Engineering, Intelligent Machine Design Lab (EEL.

Realtime Robotic Radiation Oncology Brian Murphy 4 th Electronic & Computer Engineering.

Mobile EKG Sensor Senior Design May0530 ABSTRACT PROJECT REQUIREMENTS The goal of this project is to develop a method of collecting heart rates using Vernier’s.

© 2012 Agilent Technologies Wireless Communications Greater insight. Greater confidence. Accelerate next-generation wireless. It’s Time for “Internet of.

Computational Nanoengineering of Polymer Surface Systems Graduate Student Mentor: Abishek Venkatakrishnan Faculty Mentors: Dr. Kelly L. Anderson and Dr.

OSCAR Octagonal Speech Controlled Autonomous Robot ME Seth Alberty Henry Venes EE Matt FrerichsHuy Nguyen Daniel HumkeDavid Staab Daniel MarquisFahad Wajid.

By: Aaron Dyreson Supervising Professor: Dr. Ioannis Schizas

REBECCA CREED, MECHANICAL ENGINEERING, UNIVERSITY OF DAYTON ANDREA GILLIS, AEROSPACE ENGINEERING, UNIVERSITY OF CINCINNATI URVISH PATEL, EE-COMPE ACCEND,

Abstract Each July, the Association for Unmanned Vehicle Systems International holds an annual International Aerial Robotics Competition (IARC), with major.

An Energy-Efficient Approach for Real-Time Tracking of Moving Objects in Multi-Level Sensor Networks Vincent S. Tseng, Eric H. C. Lu, & Kawuu W. Lin Institute.

PROWIND (Positioning Relay over Wirelessly Networked Devices) Team Members: Alexander Smithson, Dian Ding, Yeh Cheng Yuan Graduate Advisor: Eric Liao Faculty.

Project Paper Presentation Hanlin Wan March 15, 2011.

Autonomous Quadrotor Navigation & Guidance

Experimental Testing of Allocation of Multiple UAV’s Tim Arnett, Aerospace Engineering, Junior, University of Cincinnati Devon Riddle, Aerospace Engineering,

Motion Capture CSE 3541 Matt Boggus.

Unmanned Control & Tracking System (UCATS)

Network Simulators.

Advanced Scientific Visualization

Pursuit-Evasion Games with UGVs and UAVs

Lab for Autonomous & Intelligent Robotic Systems (LAIRS)

Networks of Autonomous Unmanned Vehicles

Engineering Tools for Electrical and Computer Engineers

Distributed Sensing, Control, and Uncertainty

Presentation transcript:

CEAS-REU PROJECT # 1 MULTI-UAV COOPERATIVE CONTROL Michael Alio: Mechanical Engineering, California State Polytechnic University, Pomona Dan Champion: Aerospace Engineering, University of Cincinnati Emma Dorgan: Mechanical Engineering, University of Cincinnati Graduate Research Assistant -Balaji Sharma: Graduate Student in the School of Dynamic Systems, University of Cincinnati Faculty Mentor – Dr. Manish Kumar: Assistant Professor, Mechanical Engineering, Cooperative Distributed Systems (CDS) Lab, School of Dynamic Systems 1

Project Goals: To gain experience in research Have multiple Skybotix coaxial helicopters fly autonomously and simultaneously by using wireless Local Area Network (LAN) Have a working quad-rotor helicopter fly autonomously 2

Objectives: Learn how to affectively use the Optitrack system in the IMAGE Lab Develop and edit a MatLab program to plot position vectors in both 2 and 3-Dimensional Space Use an emulated Linux environment to connect and program individual Skybotix Coaxial helicopters Create an algorithm to control multiple UAVs in a confined space 3

Progress: We have familiarized ourselves with the Optitrack system We learned to calibrate it to recognize specific objects, while ignoring extraneous markers 4

We are working with some very sensitive equipment in the lab! 5

MATLAB Code Found a MATLAB Tool to collect data from the Natural Point program Written by Glen Lichwark, University of Queensland, Australia We were able to use this code to track our object on MATLAB It makes 3D and 2D plots in real time 6

3D and 2D data plots using MATLAB 7

We changed the code to fit our capture volume Also creates a data set of position values while making the graphs 8

MATLAB would also crash frequently and unpredictably 9

Demonstrations =plcp =plcp =plcp =plcp 10

Skybotix CoaX Helicopters We were each assigned a Skybotix Helicopter to work with on Tuesday The first step is to get them to send and receive information through Serial Connection We are using a program called PuTTY to open the connection to the robot. 11

Work Ahead Connect to the CoaX helicopter through a wireless network Make sure it functions properly with live video feed, optic sensors, and height sensors Create an algorithm to have multiple UAVs fly and cooperate with each other simultaneously Test this algorithm with a simulation 12

Project Timeline Task/Week Learn lab & hardware resources Learn motion tracking system Learn UAV systems capabilities Learn communication protocols & UAV control Learn UAV control Develop simulation model Experiment cooperative control algorithm Documentation & presentation 13