1. Aeronautics & Astronautics Autonomous Flight Systems Laboratory All slides and material copyright of University of Washington Autonomous Flight Systems Laboratory

2. Aeronautics & Astronautics Autonomous Flight Systems Laboratory Research and Development at the Autonomous Flight Systems Laboratory University of Washington Seattle, WA Guggenheim 109, AERB 214 (206) 543-7748 http://www.aa.washington.edu/research/afsl

3. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington3 General Information Research Focus Multi-Vehicle Cooperative Control Flight Testing Cooperative Strategies for Teams of Autonomous Air & Surface Vehicles Probability Based Searching/Target Identification Coordinated Underwater Robotics Communications for Heterogeneous Cooperating Autonomous Vehicles To conduct research that advances guidance, navigation, and control technology relevant to Autonomous Vehicles. Mission Statement Dr. Rolf Rysdyk Dr. Juris Vagners Dr. Uy-Loi Ly Dr. Kristi Morgansen Dr. Anawat Pongpunwattana Christopher Lum Craig Husby John Osborne Richard Wise Elizabeth Bykoff People Ben Triplett Dan Klein Jim Colito

4. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington4 Hierarchy of Autonomy Path Planning Task Allocation Search Patterns Human Mission Command Strategic (low bandwidth) Tactical (medium bandwidth) State Stabilization Signal Tracking Inner Loop or “autopilot” Configuration changes Dynamics and Control (high bandwidth) Target Observation Path Following Communication & Cooperation Human Monitor Interaction

5. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington5 Topography of Autonomous Flight

6. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington6 Hardware-in-the-Loop Simulator Avionics Tray HiL Simulator

7. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington7 Hardware-in-the-Loop Simulator GroundstationAircraft

8. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington8 Distributed Real Time Simulator Five computers running REAL TIME simulation software. Used as a high fidelity testing environment to accurately simulate data transfer and communication aspects.

9. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington9 Infrastructure of Flight Tests In addition to simulation, direct access to actual hardware and systems. Partnered with the Insitu Group for ScanEagle UAVs, Northwind Marine for SeaFox Boats. Extensive test infrastructure in place by working with these local companies Includes sea launch & retrieval of UAVs

10. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington10 Aspects of Autonomy Base

11. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington11 Aspects of Autonomy Base STRATEGIC Team Assembly Task Assignment TACTICAL Pattern Hold DYNAMICS & CONTROL Auto Launch/Retrieval

12. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington12 Aspects of Autonomy Base Pattern hold/Team assembly

13. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington13 Aspects of Autonomy Base TransitionPattern hold/Team assembly

14. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington14 Aspects of Autonomy Base TransitionPattern hold/Team assembly STRATEGIC Path Planning Adaptive Task Assignment TACTICAL Obstacle/Threat Avoidance Path Following DYNAMICS & CONTROL State Stabilization

15. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington15 Aspects of Autonomy Base Transition Obstacle/Threat Avoidance Pattern hold/Team assembly

16. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington16 Aspects of Autonomy Base Transition Obstacle/Threat Avoidance Pattern hold/Team assembly STRATEGIC Dynamic Task Allocation Team-Based Cooperation Path Re- planning TACTICAL Obstacle Avoidance Engagement Maneuvers DYNAMICS & CONTROL State stabilization

17. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington17 Aspects of Autonomy Base Transition Obstacle/Threat Avoidance Pattern hold/Team assembly Coordination w/ surface vehicles

18. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington18 Aspects of Autonomy Base Transition Obstacle avoidance Coordination w/ surface vehicles Pattern hold/Team assembly STRATEGIC Provide improved target tasking and routing info to unmanned surface vehicles TACTICAL Orbit Coordination Communication Path Following DYNAMICS & CONTROL Signal Tracking

19. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington19 Aspects of Autonomy Base Transition Obstacle/Threat Avoidance Coordination w/ surface vehicles Pattern hold/Team assembly Searching/Target ID

20. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington20 Aspects of Autonomy Base Transition Obstacle avoidance Coordination w/ ground vehicles Pattern hold/Team assembly Searching/Target ID STRATEGIC Map-Based and Probabilistic Searches TACTICAL Path following DYNAMICS & CONTROL State stabilization

21. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington21 Aspects of Autonomy Base Transition Obstacle/Threat Avoidance Searching/Target ID Coordination w/ surface vehicles Pattern hold/Team assembly

22. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington22 Current Research Projects Real Time Strategic Mission Planning dynamic task and path planning for a team of autonomous vehicles to cooperatively execute a set of assigned tasks. Coordination of Heterogeneous Vehicles developing robust navigation and guidance algorithms to coordinate multiple vehicles to perform a cooperative task. Autonomous Search and Target Identification using total magnetic intensity measurements to search and identify magnetic anomalies in a predetermined area.

23. Aeronautics & Astronautics Autonomous Flight Systems Laboratory University of Washington23 Contact Us Investigators Dr. Rolf Rysdykrysdyk@aa.washington.edu Dr. Uy-Loi Lyly@aa.washington.edu Dr. Juris Vagnersvagners@aa.washington.edu Dr. Kristi Morgansenmorgansen@aa.washington.edu Dr. Anawat Pongpunwattanaanawatp@u.washington.edu Autonomous Flight Systems Laboratory Guggenheim 109 (206) 543-7748 http://www.aa.washington.edu/research/afsl Nonlinear Dynamics and Control Laboratory AERB 120 (206) 685-1530 http://vger.aa.washington.edu