1. MAV’08 Research Update Abe Bachrach Ruijie He Sam Prentice Nicholas Roy Feb 14, 2008 Happy Valentine’s!

2. Mission Description Scenario Terrorists have taken over bank building 1km away Holding hostages in 1 of the rooms 1 Guard vehicle circling area, mines present Mission Rescue hostages in 40 minutes Assets MAVs less than 30cm in size 2 commandos, communicate via radio Ground robots for disabling mines

3. Team MIT’s strategy 1. Fly helicopters to bank building 2. Perform coverage pattern to search for guard, map environment 3. Use Google maps/Vision SLAM to identify obstacle/goal locations Fly helicopter to bank building Perform coverage pattern Search for guard vehicle Identify obstacles, goal, mines Google mapsVision SLAM Track guard vehicle Plan commando, UGV path Communicate with commando, UGVs MAV monitoring Return to base for battery recharge

4. Hardware Asctec Hornet 6 rotors 10-15 min flight time GPS waypt following Data-link 900Mhz Xtend Sensors GPS, IMU, compass, Pressure sensor 2.4Ghz camera

5. Flight videos – GPS hovering

6. Flight videos – GPS following

7. Software Tracking

8. Software Commando planning