1. CEAS PROJECT #1: MULTI-UAV COOPERATIVE CONTROL Michael Alio, Mechanical Engineering, California State Polytechnic Pomona Emma Dorgan, Mechanical Engineering, University of Cincinnati June 19, 2012

2. Project Goals: Objectives: To familiarize with real-time motion tracking of dynamic bodies through the OptiTrack motion tracking system. To understand hardware capabilities and limitations of the UAV systems available which are the Skybotix CoaX coaxial helicopters and the Ascending Technologies’ Pelican quadrotors. To gain an understanding of the communication protocols implemented in UAV control such as serial port communication, TCP/IP (Transmission Control Protocol/Internet Protocol), and UDP (User Datagram Protocol). To learn the basics of cooperative control algorithms in a simulation environment through MATLAB and other simulating software. To implement a based cooperative control algorithm using the indoor UAV setup in the IMAGE platform.

3. Project Research Tasks Familiarization with lab facilities and hardware resources. Familiarization and experimental evaluation of the motion tracking system. Detailed evaluation of the hardware capabilities of the UAV systems for application in cooperative control experiments.

4. Project Research Tasks Working knowledge of communication protocols and UAV control Demonstration of basic UAV control – test runs Development of a simulation model for a cyclic pursuit cooperative control algorithm Experimental implementation of the cooperative control algorithm

5. Project Time Schedule Task/Week12345678 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