1. Jake Forsberg An environment for research and automation system development

2. Overview  UAV applications  UAVs + automation = ?  Flight research test bed  Motion planning problems and techniques

3. UAV Applications  Military  Government Agencies  Civil

4. Automation Potential

5. Motivation for automated UAV  Reduce manpower and safety risk  Reduce costs of operation  Provide an interesting problem for computer scientists!

6. Research Test Bed

7. Research Test Bed Communication and Control

8. Research Test Bed Vehicle Tracking and Localization

9. Research Test Bed Process Control Loop 1. Process position data of each vehicle 2. Send Position Data to application PC 3. Compute desired control signals for each vehicle 4. Send control signals for each vehicle via wireless signal

10. Motion Planning Problem

11. Aims to compute a set of commands to guide a vehicle through its environment to reach a goal state Turns out to very difficult…NP-hard

12.  Gradient decent  Potential field guided search Vehicle Trajectory Algorithm Potential Fields

13. Overview Conclusion  Reduce operation cost, human safety risk  Automated UAV systems growing research interest  Small scale test beds are reliable for developing automated UAV systems  Further motion planning algorithm research required