1. Group 4 Bianca Wood Chris Culver Shane Parker Yousef Al-Khalaf

2. Motivation Challenge Our Capabilities Sense of Accomplishment Sheer Fun

3. Objectives Competitive performance against human opponents Agile Accurate shooting Real-time, intelligent decision-making

4. Specifications Four quadrotor combatants Each quadrotor has.5m diamter Able to operate for 15 minutes on a single charge

5. A.I. Controller Power System Image Processor Flight Control Destination Current Position Shut Off Opponent Pos. & Opponent Hit Memory Power Switch Starting Pos. Motor Controller Camera Sensor Laser Block Diagram

6. Artificial Intelligence Subsystem

7. State Machine

8. Navigation Mesh

9. Path With Navigation Mesh

10. Control Point

11. Cover Zones

12. Probability Field

13. Hardware i7 Ivy Bridge 16GB DDR3 1600 with 9-9-9-24 Timings 120GB SSD NVIDIA 8900 GT

14. Motion Detecting Algorithms Two frames difference motion detector

15. Motion Detecting Algorithms, cont. Simple background modeling motion detector

16. Motion Processing Algorithms Grid motion area processing

18. Overall Software Class Diagram

19. Power Micro Controller Motor Movement A.I. Controller Flight Control Sub-System

20. Navigation Control/Stabilization Algorithm Coordinates / Sensors Motors Navigation Coordinates come from AI computer Stabilization Readings come from sensors Varies Voltage

21. Stabilization Navigation Dead-Reckoning Image recognition 1 2 3 4

22. Hardware Voltage :1.8 – 3.3 V Current : 165 µA/MHz 32 bit 3 – Axis Accelerometer 3 – Axis Gyroscope Digital Compass Voltage : 2.1 – 3.6 Frequency : 2.4 GHz Data Rate : 250 Kbps Range : 133 ft

23. Power Best part of the project Lithium-ion Polymer battery 11.1 v and trying to figure best mAh Need a PCB to disperse the power

25. Budget ItemQuantity Price per QuantityTotal Price Quadcopter Frames4$250$1,000 Computer1$500 Spy Strike Laser Dueling System2$23$46 Motors 12$10$120 Slowfly electric prop 1045R 4-piece set 4$3$12 Wireless Microprocessor 4$50$200 Webcams 4$15$60 Accelerometer/Gryometer 4$100$400 11.1V 1600mAh 25C LiPo Battery 4$30$120 Miscellaneous Unknown Allocating $150 Total$2,608

26. Finances Need sponsors/ donations $500 from a family friend $500 from another friend Motors Still waiting

27. Progress

28. Challenges

29. Questions?