1. 1 Center for the Collaborative Control of Unmanned Vehicles (C3UV) UC Berkeley Karl Hedrick, Raja Sengupta

2. 2 Berkeley’s Collaborative UAV Mission  Research objectives: 1- Coordinated flight and dynamically reconfigurable formations 2- Higher layer of coordinated team control that autonomously integrates teams of self-navigating platforms 3- Vision based closed loop navigation

3. 3 Current UAV Platform Configuration  Wing-Mounted Camera allowing for vision-based control, surveillance, and obstacle avoidance  Ground-to-Air UHF Antenna for ground operator interface  GPS Antenna for navigation  802.11b Antenna for A-2-A comm.  Payload Tray for on-board computations (PC104) and devices  Payload Switch Access Door for enabling / disabling on-board devices

4. 4 Current Payload Configuration  Off-the-shelf PC-104 with custom Vibration Isolation for on-board recording.  Orinoco 802.11b Card and Amplifier for A-2-A comm.  Analog Video Transmitter for surveillance purposes  Printed Circuit Board for Power and Signal Distribution among devices.  Umbilical Cord Mass Disconnect for single point attachment of electronics to aircraft.  Keyboard, Mouse, Monitor Mass Disconnect for access to PC-104 through trap door while on the ground.

5. 5 Future Experimental System  DURIP funded multi-aircraft test bed  Six Primary Components A. Five new aircraft with improved payload capacity and configuration B. Upgraded autopilots with improved autopilot functions C. New sensors-(bullet cameras, fisheye lenses, IR camera, radar, IMU, gimbals) D. New air-to-air communications system E. New video downlink system

6. 6 MLB Bat IVAircraft Improved payload weight (25lbs) and volume Improved logistics: 7.5 hour duration, onboard generator

7. 7 UC Berkeley UAV Test Locations UAV Research Operations Conducted at Moffett Field, California

8. 8 Camp Parks, Dublin

9. 9 Crows Landing

10. 10 Applications (STTR) Would like to use UAV’s for :  Convoy Protection Provide local as well as over-the-horizon visual coverage  Search & Rescue (SAR) - Assist in search using infrared (IR) camera while flying abreast with manned helicopter  Perimeter Surveillance/Border Patrol Coordinated surveillance and target recognition and tracking.

11. 11 BLCC- Berkeley “Language” for Collaborative Control  Define the mission and communicate it to team members  Define the “state” of each agent  Define the mission “state”  Allow for faults  Allow for conflict resolution  Define the information to be communicated between agents.

12. 12 Agents (UAVs)  Transition Logic: Governs transitions of tasks and subtasks  Communication: Deconflicts plans and synchronizes information between agents vs.  Planner(ex. path-planner): calculates cost, generates plan and chooses “todo”  Low-level Controller (ex. waypoint tracker)

13. 13 VISION AS THE PRIMARY SENSOR  There are many applications where GPS is not available or not reliable  We are looking at using vision in the navigation feedback loop

14. 14 Generalization: Vision Based Following of Locally Linear Structures (Closed Loop on the California Aqueduct, June 2005)

15. 15 JULY 15 DEMOS  Two-plane flight demonstration with vision- based canal following task permissible  Three-plane flight demonstration with location visit and border patrol tasks with dynamic reallocation of resources.

16. 16 COLLABORATING UAV’S July 15, 2005 Multi-Vehicle Demonstration

17. 17 Mission Control Switchboard Collaboration UAV Piccolo Autopilot Ground-to-Air Communications Switchboard Collaboration Air-to-Air Communications (802.11b) UAV Piccolo Autopilot System Level Architecture Aircraft 1 Aircraft 2

18. 18 Mission Control GUI  MissionControlGUI.avi MissionControlGUI.avi

19. 19 The End