1. Network UAV C3 Stage 1 Final Briefing Timothy X Brown University of Colorado at Boulder Interdisciplinary Telecommunications Program Electrical and Computer Engineering Aerospace Engineering July 25, 2005

2. 7/25/20052 Outline Accomplishments Program Description Testing Stage 2 and 3

3. 7/25/20053 Ad hoc UAV-Ground Network AUGNet Scenario 1: increase ground node connectivity. NOC Scenario 2: increase UAV mission range.

4. 7/25/20054 Accomplisments In one year built UAV, communication, monitoring, and test bed infrastructure. Demonstrated –802.11 capabilities in AUGNet scenarios –Multi-UAV operations –UAV swarm communication

5. 7/25/20055 Networked UAV C3 Problem: More UAVs implies more pilots Idea: Command a “Flock” of cooperative UAVs –Staged Approach –Stage 1 Complete Level 1: intraplane subsystem com- munication and control Level 2: Single UAV planning, inter plane control interface Level 3: Multi UAV planning and decision making Base Demo: UAV flies to target, sends back images Leashing flight demo Direction finding flight demo Leashing algorithms Direction finding algorithms Multi-UAV operations C3 via external interfaces Stage 1Stage 2Stage 3 Networked UAV Concept Development Autonomous Flight Control Sensors Central Controller Communication Networking UAV Stage 1 Architecture

6. 7/25/20056 What did we do in Stage 1? Integrated Autonomous Flight Navigation into Ares Airframe –Installed and operated –Dynamics model, nose-wheel issue –Flight testing. Improved 802.11 communications for UAV environment. –Enabling UAV mission communication –Flight testing

7. 7/25/20057 What are we doing in Stage 1? Sensors –Representative sensors: temperature/pressure/humidity System Integration –Central Computer –Naiad Interfaces –Virtual Cockpit –Hardware in the loop testing Naiad Node Naiad Node Naiad Node Naiad Node Comm Interface CAN Bus Sensor N Sensor 1Sensor 2 … … Piccolo Autopilot Naiad Node Autonomous Flight Control Module Sensor ModulesComm Module Supervisory Computer Naiad Node Computer Module

8. 7/25/20058 Naiad Interface Boards Naiad Thalassa Battery Provide Robust and Intelligent Subsystem Interface

9. 7/25/20059 Virtual Cockpit: UAV Operator Situational Awareness Original CU Virtual Cockpit Engine Customized for AUGNet

10. 7/25/200510 Hardware in the loop testing Enabled rapid prototyping UAV “thinks” it is flying Fast debugging in the lab versus painful lessons in the field FlightGear VirtualCockpit Operator Interface Simulator Ares-2 Ground Station

11. 7/25/200511 Modes of Operation Hardware in the loopTakeoff and landingAutonomous Flight

12. 7/25/200512 Testing: Start Flight Pattern 1 Command to FP 2 Report on Temp and Comm Connectivity Return to FP 1 if: –Temp < Freezing, or –No Comm for 40 sec Simulate –freezing and –Comm loss Central Rd Plateau Rd West Gate North Gate N 0 600 1200 meters MAP KEY: Road UAV airstrip Fixed sites Range MNR 84 MNR 83 NOC Scale Flight Plan 2 Flight Plan 1

13. 7/25/200513 Test Significance:

14. 7/25/200514 Test Results

15. 7/25/200515 A Nice Surprise: Humidity Microclimate I.4 km Finds hidden stream Can plot in real time Faster, more responsive, higher resolution than satellite

16. 7/25/200516 Stage 2: Single UAV Planning Stage 1: system integration, scripted single-UAV planning Stage 2: Intelligent Single UAV Planning: –sets own waypoints –UAV-UAV comms –Directional Antenna Level 1: intraplane subsystem com- munication and control Level 2: Single UAV planning, inter plane control interface Level 3: Multi UAV planning and decision making Base Demo: UAV flies to target, sends back images Leashing flight demo Direction finding flight demo Leashing algorithms Direction finding algorithms Multi-UAV operations C3 via external interfaces Stage 1Stage 2Stage 3 Networked UAV Concept Development Task Goal Assessment Interfaces to Nav, Comm, Sensors Planning Current State UAV Central Controller Stage 2 Architecture

17. 7/25/200517 Stage 3: Multi-UAV Planning Multi-UAV goal sharing Distributed Task assignment Develop Behaviors Multi-UAV Demo Level 1: intraplane subsystem com- munication and control Level 2: Single UAV planning, inter plane control interface Level 3: Multi UAV planning and decision making Base Demo: UAV flies to target, sends back images Leashing flight demo Direction finding flight demo Leashing algorithms Direction finding algorithms Multi-UAV operations C3 via external interfaces Stage 1Stage 2Stage 3 Networked UAV Concept Development Task Goal Assessment Interfaces to Nav, Comm, Sensors Planning Current State UAV Central Controller Stage 3 Architecture Inter- plane logical Inter- face

18. 7/25/200518 Conclusions We are setting a goal to implement autonomous flocks of UAVs that require minimal operator direction to complete tasks. Stage1 has integrated the hardware and software subsystems necessary to achieve this goal. Testing has shown that useful data can be collected in real time. We are ready for Stage 2.