1. CU-Boulder Timothy X Brown Interdisciplinary Telecommunications Electrical and Computer Engineering University of Colorado Presented at the RECUV Workshop CU-Boulder July 29, 2004 The Ad Hoc UAV Ground Network (AUGNet)

2. 7/29/2004T.X Brown (http://ece.colorado.edu/~timxb)2 Unmanned Aerial Vehicles (UAVs) Small (10kg) Low-Cost ($10k) UAVs Swarming, flocking, cooperative missions Military, scientific, commercial applications Now

3. 7/29/2004T.X Brown (http://ece.colorado.edu/~timxb)3 Ad Hoc Networks A C B Robust Connectivity

4. 7/29/2004T.X Brown (http://ece.colorado.edu/~timxb)4 Ad hoc UAV-Ground Networks NOC Scenario 1: increase ground node connectivity. Scenario 2: increase UAV mission range.

5. 7/29/2004T.X Brown (http://ece.colorado.edu/~timxb)5 We are building AUGNet Small Low-Cost UAV COTS Radio Components Full-Scale Test Bed. Fixed nodes Mobile ground nodes (vehicle/personnel carried) Aerial vehicle mounted nodes

6. 7/29/2004T.X Brown (http://ece.colorado.edu/~timxb)6 Why Hardware Testing? Simulation misses the interaction between: Distributed Protocols Operating System Hardware Environment We think there is a lot to learn in building The end result will have value in itself

7. 7/29/2004T.X Brown (http://ece.colorado.edu/~timxb)7 AUGNet Hardware Strategy Common hardware and software platform Commercial Off The Shelf communication hardware Open source network software Custom UAVs Flexible and stable design

8. 7/29/2004T.X Brown (http://ece.colorado.edu/~timxb)8 Communication Hardware 16cm Common Hardware 802.11b PCMCIA card Soekris single board computer 0.1-1W Amplifier GPS (for monitoring) 256MB CF “personality” 21cm Environmental Enclosure UAV Mounting

9. 7/29/2004T.X Brown (http://ece.colorado.edu/~timxb)9 Communication Software Linux operating system Click packet processing Dynamic source routing Self starting, automated No long-term state RAM file system ROM personality Robust

10. 7/29/2004T.X Brown (http://ece.colorado.edu/~timxb)10 Typical Application GPS Receiver Ad Hoc Radio 12VDC User Devices Ethernet Laptop Computer Video Camera VoIP Phone Ethernet Switch Internet

11. 7/29/2004T.X Brown (http://ece.colorado.edu/~timxb)11 Test Bed Table Mountain National Radio Quiet Zone 15km North of the University of Colorado

12. 7/29/2004T.X Brown (http://ece.colorado.edu/~timxb)12 FS1 FS2 1000’ 300m Table Mountain 4km 3km Public Road Circuit at Mesa Base Gateway to Hi-speed Internet Landing Strip Fixed Sites

13. 7/29/2004T.X Brown (http://ece.colorado.edu/~timxb)13 Monitoring Model Fixed Site 1 Handheld Nodes Ground Vehicle Nodes Fixed Site 2 Ad Hoc Radio Network Monitor Server Remote Monitor Table Mountain NOC Univ. of Colorado Aerial Vehicle Nodes Internet Fiber Optic Ring Normal Data Monitor Backhaul Web Access

14. 7/29/2004T.X Brown (http://ece.colorado.edu/~timxb)14 Remote Monitoring

15. 7/29/2004T.X Brown (http://ece.colorado.edu/~timxb)15 Results Delay/Throughput Delay ~10ms/hop Ad hoc throughput > 100kbps up to 5 hops

16. 7/29/2004T.X Brown (http://ece.colorado.edu/~timxb)16 Applications Sensor arrays (reliable data collection) Differential meas. (auto-networking) Long baseline meas. (cooperative UAV’s) High risk operation (low cost equipment) Remote areas (Instant communication)

17. 7/29/2004T.X Brown (http://ece.colorado.edu/~timxb)17 Conclusion We are building a heterogeneous ad hoc network Monitoring to understand complex ad hoc networks is needed Many applications. Project website: augnet.colorado.edu