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

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Multi-UAV swarming Advisor: Dr. Manish Kumar Mentor: Mr. Balaji Sharma 06/18/2012 Multi-UAV swarming Advisor: Dr. Manish Kumar Mentor: Mr. Balaji Sharma Co-operative Distributed Research Laboratory School of Dynamic Systems University of Cincinnati REU program Summer 2012

Multi-UAV swarming OBJECTIVES 06/18/2012 Multi-UAV swarming OBJECTIVES Familiarization with real-time motion tracking of dynamic bodies (OptiTrack) Familiarization with hardware capabilities and limitations of the UAV systems (Skybotix CoaX coaxial helicopters, Ascending Technologies’ Pelican quadrotors) Understanding communication protocols for UAV control (serial, TCP/IP, UDP) Understanding the basics of cooperative control algorithms in a simulation environment Implementation of a based cooperative control algorithm using the indoor UAV setup in the IMAGE platform REU program Summer 2012

06/18/2012 Multi-UAV swarming THE FACILITIES REU program Summer 2012

Multi-UAV swarming EXPECTED DELIVERABLES 06/18/2012 Multi-UAV swarming EXPECTED DELIVERABLES Demonstration of real-time motion capture of UAV maneuvers in a 3D space. Assessment of the capabilities and evaluation of errors in the tracking system. Detailed evaluation of the hardware capabilities of the UAV systems for application in cooperative control experiments. Demonstration of basic UAV control with commands executed wirelessly from a remote computer. Developing a simulation model for a cooperative control algorithm implementing cyclic pursuit among the UAVs. Experimental implementation of the algorithm using the indoor UAV systems in the IMAGE platform. REU program Summer 2012

Multi-UAV swarming TIMELINE Week 1 06/18/2012 Multi-UAV swarming TIMELINE Week 1 Familiarization with lab facilities and hardware resources. Familiarization and experimental evaluation of the motion tracking system. Weeks 2-4 Detailed evaluation of the hardware capabilities of the UAV systems for application in cooperative control experiments. Working knowledge of communication protocols and UAV control Demonstration of basic UAV control – test runs Week 5 Development of a simulation model for a cyclic pursuit cooperative control algorithm Weeks 6-7 Experimental implementation of the cooperative control algorithm Week 8 Documentation and presentation REU program Summer 2012