1. CEAS-REU PROJECT # 1 MULTI-UAV COOPERATIVE CONTROL Michael Alio: Mechanical Engineering, California State Polytechnic University, Pomona Dan Champion: Aerospace Engineering, University of Cincinnati Emma Dorgan: Mechanical Engineering, University of Cincinnati Graduate Research Assistant -Balaji Sharma: Graduate Student in the School of Dynamic Systems, University of Cincinnati Faculty Mentor – Dr. Manish Kumar: Assistant Professor, Mechanical Engineering, Cooperative Distributed Systems (CDS) Lab, School of Dynamic Systems 1

2. Project Goals: To gain experience in research Have multiple Skybotix coaxial helicopters fly autonomously and simultaneously by using wireless Local Area Network (LAN) Have a working quad-rotor helicopter fly autonomously 2

3. Objectives: Learn how to affectively use the Optitrack system in the IMAGE Lab Develop and edit a MatLab program to plot position vectors in both 2 and 3-Dimensional Space Use an emulated Linux environment to connect and program individual Skybotix Coaxial helicopters Create an algorithm to control multiple UAVs in a confined space 3

4. Progress: We have familiarized ourselves with the Optitrack system We learned to calibrate it to recognize specific objects, while ignoring extraneous markers 4

5. We are working with some very sensitive equipment in the lab! 5

6. MATLAB Code Found a MATLAB Tool to collect data from the Natural Point program Written by Glen Lichwark, University of Queensland, Australia We were able to use this code to track our object on MATLAB It makes 3D and 2D plots in real time 6

7. 3D and 2D data plots using MATLAB 7

8. We changed the code to fit our capture volume Also creates a data set of position values while making the graphs 8

9. MATLAB would also crash frequently and unpredictably 9

10. Demonstrations http://www.youtube.com/watch?v=kHpy_Ou0YFo&feature =plcp http://www.youtube.com/watch?v=kHpy_Ou0YFo&feature =plcp http://www.youtube.com/watch?v=Zp3rp4XDnPQ&feature =plcp http://www.youtube.com/watch?v=Zp3rp4XDnPQ&feature =plcp 10

11. Skybotix CoaX Helicopters We were each assigned a Skybotix Helicopter to work with on Tuesday The first step is to get them to send and receive information through Serial Connection We are using a program called PuTTY to open the connection to the robot. 11

12. Work Ahead Connect to the CoaX helicopter through a wireless network Make sure it functions properly with live video feed, optic sensors, and height sensors Create an algorithm to have multiple UAVs fly and cooperate with each other simultaneously Test this algorithm with a simulation 12

13. Project Timeline 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 13