CU-Boulder Timothy X Brown Interdisciplinary Telecommunications Electrical and Computer Engineering University of Colorado Presented at the AIAA 3 rd “Unmanned Unlimited” Technical Conference Chicago September 21, 2004 The Ad Hoc UAV Ground Network (AUGNet)

9/21/2004T.X Brown ( Thanks to University of Colorado Brian Argrow Cory Dixon Jack Elson Sheetalkumar Doshi Daniel Henkel Jesse Himmelstein Sushant Jadhav Gerald Jones Marc Kessler Jake Nelson Phillip Nies Bill Pisano Roshan-George Thekkekunnel Institute for Telecommunication Sciences John Ewan Fidelity-Comtech Joe Carey L3-Corporation Ken Davey

9/21/2004T.X Brown ( Unmanned Aerial Vehicles (UAVs) Small (10kg) Low-Cost ($10k) UAVs Swarming, flocking, cooperative missions Military, scientific, commercial applications

9/21/2004T.X Brown ( Ad Hoc Networks A C B Network Layer Relaying Robust Connectivity

9/21/2004T.X Brown ( Ad hoc UAV-Ground Networks NOC Scenario 1: increase ground node connectivity. Scenario 2: increase UAV mission range.

9/21/2004T.X Brown ( We are building AUGNet COTS Radio Components Small Low-Cost UAV Full-Scale Test Bed. Fixed nodes Mobile ground nodes (vehicle/personnel carried) Aerial vehicle mounted nodes Test bed is another paper

9/21/2004T.X Brown ( AUGNet Hardware Strategy Common hardware and software platform COTS communication hardware Open Source network software Custom UAVs Flexible and stable design

9/21/2004T.X Brown ( Communication Hardware 16cm Common Hardware b PCMCIA card Soekris single board computer 0.1-1W Amplifier GPS (for monitoring) 256MB CF “personality” 21cm Environmental Enclosure UAV Mounting

9/21/2004T.X Brown ( Communication Software Linux operating system Click packet processing Dynamic source routing Self starting, automated No long-term state RAM file system ROM personality Robust

9/21/2004T.X Brown ( Test Bed Table Mountain National Radio Quiet Zone Experimenting to show the effect of the UAV

9/21/2004T.X Brown ( Delay Delay ~10ms per hop Have tested VoIP application. Works well up to 3 hops Fixed nodes separated by 1 – 5 hops

9/21/2004T.X Brown ( Throughput Ad hoc throughput > 100kbps up to 5 hops UAV enables short cuts that preserve throughput

9/21/2004T.X Brown ( Range UAV more than doubles the range UAV performance more erratic: more maneuvering Histogram Packet Loss in 20 sec Interval

9/21/2004T.X Brown ( Node Mobility Mobile nodes are not reliable relays UAV helps bridge unreliable links Within fixed node groups Between fixed node groups Mobile Relay To/From Mobile Nodes

9/21/2004T.X Brown ( Summary: We are building COTS-based ad hoc networks on UAV, fixed, and mobile nodes. Range: 1.2km Grnd-Grnd, 3 km UAV-Grnd Low Delay, Good Throughput: Can do VoIP UAV maneuvering affects performance

9/21/2004T.X Brown ( Next Steps: Coupling Plane Dynamics with Communication UAV Flocking Multi UAV operations Project website: augnet.colorado.edu