Computational Mechanics and Robotics The University of New South Wales Micro Aerial Vehicles for Search, Tracking and Reconnaissance (MAVSTAR) Computational Mechanics and Robotics ARC Centre of Excellence in Autonomous Systems The University of New South Wales Australia Tomonari Furukawa

Content Conceptual solution Overall System Architecture MAV Propulsion and lift system Guidance, Navigation and Control Flight termination system and Safety UGV Electronic Mechanical BS Man/Machine Interface Path Planning Conclusion & Future Work MAVSTAR, UNSW, AU

Conceptual Solution 4 Remote control MAVs 4 Autonomous UGVs BS Strategy: 1 MAV takes off from the IP 2 MAVs are carried by UGV 1 MAV stays in IP MAV tasks: Search and locate for obstacles, mines, guard and hostage Search, locate and defuse mines and locate hostage UGV tasks: Relay MAVs’ signals Search and locate obstacles, guard and hostage Deactivate mines

Overall System Architecture Communication between MAV and BS: Direct (LoS, >1km) Relay (NLoS) Developed GUI: Sensor monitoring Human-in-the-loop control Kill Switch Video: 1.2, 1.5 and 5.8 GHz Data: 2.4 GHz Radio Frequency Interference (RFI) MAVSTAR, UNSW, AU

MAV Platform Flybar Fully custom-made Low cost (US$500) Carbon blades 4 plies 45deg/0deg/0deg/45deg IMU Carbon frames 3 plies 0deg/90deg/0deg GPS Camera Ultrasonic sensor Battery Video Transmitter

MAV: Propulsion and lift system Coaxial helicopter 2 brushless motors for height and yaw control 2 servos for pitch and roll control Advantages: Fit within 30cm sphere High lift force (455g) for all sensors 12-14 minutes flight time Stable in indoor and outdoor environments (Wind speed up to 20km/h) MAVSTAR, UNSW, AU

Indoor and Outdoor Performance Indoor flight Outdoor flight Indoor flight Outdoor flight

Guidance, Navigation and Control Sensors Control Sensor: 2 axis accelerometer, 1 axis gyro Navigation: GPS, compass, ultrasonic Mission and obstacle avoidance: CCD camera (Range: >1km) Manual remote control Base on real-time video image Have all sensors for autonomous control later Minimize the on-board computation MAVSTAR, UNSW, AU

Camera view during flight Sensing Capability Camera view during flight

Flight termination system and Safety Dangerous to people Kill switch in BS is activated Kill command is sent to MAV Lost communication Hover in first 2s After 2s, land using Ultrasonic Range Finder MAVSTAR, UNSW, AU

UGV: Mechanical Custom-made frame 4WD Off-road capability Able to climb steps 14km/h 1 hour run time Directional Microphone Hostage Detection MAVSTAR, UNSW, AU

UGV: Mechanical Custom-made frame 4WD Off-road capability Able to climb steps 14km/h 1 hour run time Directional Microphone Hostage Detection Launching Mechanism Power Saving MAVSTAR, UNSW, AU

UGV: Electronic Navigation Sensors: GPS, Compass, Accelerometers Collision Avoidance: CCD camera, Ultrasonic Range Finder Mission Sensors (for Mine and Hostage): CCD camera, Directional Microphone Autonomous Control for 4 UGVs 1 Crew member Monitor and override control if necessary Update waypoints if necessary Repeater for MAVs’ video and data signals For MAVs in NLoS condition MAVSTAR, UNSW, AU

BS: Man/Machine Interface UGV UGV UGV UGV MAV MAV MAV MAV Monitor Server Controller Comm Comm Comm Controller Controller Controller Data server Data server Data server Data server MONITOR MAV MONITOR MAV MONITOR UGV Data flow Distributed Server-Client Model for sharing information Scalability for multiple/heterogeneous MAV/UGV coordination Rich computational resources (rapid prototyping/testing purpose) Multiple operators MAVSTAR, UNSW, AU

BS: Path Planning Location of the guard (SAT MAV) The system suggests the path to get close to the building with Search-And-Tracking MAV information. Non-Line of Sight (NLoS) from the guard Non-Line of Sight estimator utilizes a priori knowledge to find “Safe Zone”. Path finder Theoretically, it is guaranteed that the system provides a path from the entry point to the building if there is a path. GV NLOS Search space: 500x500 grids 0.53sec for the initial search by Pentium-M 1.1GHz processor MAVSTAR, UNSW, AU

Conclusion Conclusions: 4 MAVs, 4 UGVs and BS Rotary-wing MAV with coaxial setup fits within 30cm sphere High lift force, Stable in indoor and outdoor, long flight time Autonomous control for UGVs and Manual control for MAVs MAVSTAR, UNSW, AU

Future Work – Coordinated Information-theoretic Search and Tracking Coordinated information-theoretic SAT Real-time information-theoretic SAT Coordinated information-theoretic SAT Real-time information-theoretic SAT

Future Work – Continuous Outdoor and Indoor Localization

Scientific Research (AFOSR) Air Force Research Lab (AFRL) Acknowledgements Air Force Office of Scientific Research (AFOSR) Air Force Research Lab (AFRL) DSTO Defence Science and Technology Organisation MAVSTAR, UNSW, AU