1. Arizona’s First University. Scenario, Demo and New Application In collaboration with Vanderbilt University, and the University of California, Berkeley. Supported by US AFOSR.

2. 2 Electrical and Computer Engineering 06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy" Scenario There are two vehicles one marked as a threat There are two methods to have the UAV locate and track the vehicle –Have a person manually control the UAV for demo 3D mouse is used –Use an autonomous algorithm to control the UAV Demo of original scenario

3. 3 Electrical and Computer Engineering 06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy" Issue with Predetermined Path In the original demo a predetermined path is sent for each of the vehicles Some issues to having a set path include –The user knowing where the vehicle is at all times –Human user had unfair advantage over autonomous algorithm –Difficult to test various situations –Time consuming to create new paths for system New method to creating paths was needed to fix these issues

4. 4 Electrical and Computer Engineering 06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy" Vehicle Path Application paths can be drawn to for each vehicle Allows one user to create the paths that the operator will not see Paths can be saved and loaded at a different time The original paths for the vehicles can still be used if desired To add the application an extra argument is added to the GME model GME then generates the scripts to run the demo based on the arguments given

5. 5 Electrical and Computer Engineering 06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy" How it works ? Application uses the mouse listener to log the points where the path is created These paths are taken in as pixel values and mapped to latitude and longitude based on the initial location of : 36.013380724868966,-86.78497767466942 A file is created with vehicle name, index, label and image and all the points of the path in latitude an longitude: name:Truck1 index:1 label:WMD URL:models/demo7/FireTankerRedTop.kmz GTURL:models/demo7/FireTanker-GT.kmz 36.013380724868966,-86.78497767466942,0,0.0 36.013380724868966,-86.78497767466942,0,1.0 36.01348072486897,-86.78477767466941,0,2.0 36.01368072486897,-86.78467767466942,0,3.0 36.013780724868965,-86.78467767466942,0,4.0 36.013780724868965,-86.78457767466942,0,5.0 36.01388072486897,-86.78457767466942,0,6.0 36.013980724868965,-86.78457767466942,0,7.0 …

6. 6 Electrical and Computer Engineering 06/18/2009Sprinkle, "Command and Control (C2) Wind Tunnel: High-level Multi-rotorcraft Autonomy" Disadvantages of/Future work for application Both Vehicles currently start in the same location If the UAV starts close to the vehicles it will make it more difficult to test scenario Currently application only has one start location The range the vehicles can move is limited to a 36 square miles All structural changes to application have to be changed in the code Only one saving format for that paths is used