1. Project #4: Experimental Testing of Allocation of Multiple UAVs Tim Arnett, Aerospace Engineering, Junior, University of Cincinnati Devon Riddle, Aerospace Engineering, Junior University of Cincinnati ASSISTED BY: Chelsea Sabo, Graduate Research Assistant Dr. Kelly Cohen, Faculty Mentor

2. Motivation & Operational Goals of Experimental Testing Search and Rescue Weather Observation Forest Fire Monitoring Traffic Surveillance Border Patrol Military 2

3. Project Goals Learn to interface with hardware for controller development Understand the benefits and disadvantages of using different routing algorithms for UAVs 3

4. Objectives Objective 1:Objective 1: Interface with cooperative control development hardware –Interface and run algorithms on AR Drones –Interface and run algorithms on AMASE Objective 2:Objective 2: Validate task allocation algorithm both in simulation and experimentally Objective 3:Objective 3: Test and compare cooperative control strategies for UAVs 4

5. Experimental Setup AR Drone OptiTrack System Software Interface Waypoint Following Algorithm –PID Control –Fuzzy Logic Control –Potential-based Control 5

6. Experimental Setup AR Drone –Commercially available quadrotor –Can be controlled by a device using wireless network adapter 6

7. Experimental Setup Optitrack System –Cameras provide real time position data –Data can be imported into MatLab 7

8. Experimental Setup Software Interface –PC client with wireless capability –Wireless router to connect to multiple drones 8

9. Experimental Setup Waypoint Following Algorithm –PID Control –Fuzzy Logic Control –Potential-based Control 9

10. Communication Pathway 10

11. Command Value Conversion AR Drone requires commands in text strings with values formatted as a 32-bit signed integer Command string example –CMD = sprintf('AT*PCMD=%d,%d,%d,%d,%d,%d\r',i,1,0, 1036831949,0,0); –fprintf(ARc, CMD) –Arguments in order are sequence, flag, roll, pitch, ascent rate, and yaw rate 11

12. AMASE 12

13. Basic Overview A simulation program. –Sets up scenarios –Runs the main simulation that is wanted –Has the capabilities of analyzing the results as the simulation is run. 13

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15. Important Features The Map Direct XML-editing (extensible markup language) The Event Editor –The features mentioned above are the three basic methods use for entering information into a scenario to simulate it. Multi Flight CMASI 15 The MapXML EditingEvent Editor Create Scenario Plan Request (CMASI) ValidationRun Scenario Connect with Client Record and Analyze data

16. CMASI Common Mission Automation Services Interface –A system of interactive objects that pertain to the command and control of a UAV system. Communicate with the components –LMCP –Defines data types and enumerations. 16

17. Timeline Week 1 Week 2Week 3Week 4Week 5Week 6Week 7Week 8Week 9Week 10 Research Learn AMASE Test Control Algorithm Analyze Control Algorithm Validation Final Report Journal Paper Due Final Day 17

18. Conclusions 18 Challenges –Modeling the system for controller –Communicating with drone(s)

19. Questions? 19