multi-uav integration for coordinated missions

MULTI-UAV

INTEGRATION FOR

COORDINATED

MISSIONS

Ricardo Bencatel ricardo.bencatel@fe.up.pt

Pedro Almeida pinto.almeida@fe.up.pt

Gil Manuel Gonçalves gil@fe.up.pt

João Borges de Sousa jtasso@fe.up.pt

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Overview

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

• Background• Networked vehicles and systems• AsasF

– Goals– Requirements– System breakdown structure– Status

• Organization and control– Vehicle control– Multi-vehicle control

Background

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

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Motivation

• Forest fires in Portugal

• Oceanographic area

• Trend in military

• Less risk for the pilot

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Applications

Rescue, civil protection & commercial applications•Flying eye for rescue services•Hazard inspections•Surveillance

Military & governmental applications•Short range reconnaissance•Search mission•Critical area monitoring•Fire prevention

Background

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MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Background

AirCargo challenge

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MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Background

AirCargo challenge

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Mixed Initiative Control of Automa-teams

Cooperative Battle Management of Teamed UAVsCooperative Battle Management of Teamed UAVs

PlanPlan

ExecuteExecute

AssessAssess

Cooperatively

Cooperatively

Communicate

Sense

Sense

Atack

Atackl

Process

Process

MULTI-UAV

INTEGRATION

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COORDINATED

MISSIONS

Background

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Underwater Systems and Technology Lab Porto University

MissionMission

Design and deployment of innovative solutions for oceanographic and environmental applications

VehiclesVehicles

Autonomous submarines

Remotely operated submarines

Unmanned air vehicles

TechnologiesTechnologies

Systems engineering

Navigation and control

Acoustic networks

Networked control systems

Power/computer systems

ApplicationsApplications

Monitoring sea outfalls

Coastal oceanography

Underwater archaeology

Inspection and intervention

Courtesy of Michael Incze, NUWC

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Cooperation

Portugal

Academia da Força Aérea Portuguesa

Instituto Superior de Engenharia do Porto

United States

University of California at Berkeley, USA

C3UV

Naval Postgraduate School, Monterey, CA, USA

California Institute of Technology, CA, USA

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Background

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Cooperative UAV Program (2005-)• Low cost UAVs

– RC frame– Shares electronics and control

with AUVs– Common CCC infrastructure– Composite materials– Long range

• Coordinated operation– Formation flying– Other cooperative missions– Sensor networks and seagoing

Vehicles

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Background

Networked vehicles and systems

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

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Networked operations

Moored sensors

Autonomous surface vehicle

Surface buoy

Navigation beacon

Oceanographic sensors

Moored sensors

Control station

Driftingsensors

AUVAUV

Control station

UAVUAV

AUV

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Networked Control

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MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Common thrusts on coordinated systems • Development of user-friendly operator interface; • To allow a single-user to control a whole fleet of

vehicles• Research on distributed task assignment• Mixed-initiative (human operator in the control loop)

environments

Networked Control

AsasF

MULTI-UAV

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Goals

• Integrate Piccolo with the Neptus framework for planning and control of autonomous vehicles

• Extend the Neptus framework to include UAV models and operational interfaces

• Evaluate mixed initiative operations

MULTI-UAV

INTEGRATION

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COORDINATED

MISSIONS

AsasF

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AsasF

Veículos aéreos autónomos

• Take model airplane parameters

• Mount autopilot in each aircraft

• Perform tests carry out an autonomous flight

demonstration

Low-level

High-level Coordinated Control

• Control structure modelled through the framework of dynamic

networks of hybrid automata

• Tool to achieve coordinated control of multiple vehicles: Neptus

framework.

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RequirementsMULTI-UAV

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FOR

COORDINATED

MISSIONS

AsasF

•Minimum payload of 4Kg

•Modular, flexible, robust

•Low cost

•COTS components

•Easy control and operation

•Autonomous and remotely operated operation

•Air data (Altitude, Air pressure, airspeed, GPS, RPMs)

•Video acquisition and real time transmission

•Operational console capable of specifying new

waypoints for coordinated flight

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System Breakdown Structure

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

AsasF

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Vehicles• Large trainer

– Low cost, easy to fix or replace

– Stable platform

– Room and payload capacity

• UAV developed at Porto University

MULTI-UAV

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MISSIONS

AsasF

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Veículos aéreos autónomos Brutus

Super Telemaster

Brutus v2AsasF

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Veículos aéreos autónomos

AsasF

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Hardware

•Handset FF9

•OS91FX engine

•Servos

•Electronic equipment (camera, Tx/Rx)

•Piccolo avionics

•Ground Station

AsasF

MULTI-UAV

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MISSIONS

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StatusMULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

AsasF • Building of platform Telemaster (commercial aircraft model) and final adjustments to Brutus v1

•Brutus v2 development and building

•Study of Piccolo’s controller and SDK communications

•Study and implementation of HWIL simulation

Organization and control

MULTI-UAV

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Neptus at a glance

• Distributed command and control infrastructure for multi-vehicle systems with mixed-initiative interactions

• Supports mission life cycle– Planning– Simulation– Supervision– Review and analysis– Data dissemination

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Organization and control

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UAV mission planning

MULTI-UAV

INTEGRATION

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COORDINATED

MISSIONS

Organization and control

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Organization and control

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

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Piccolo Avionics System

• Miniature flight control system• Radio link between ground station and avionics

for command and parameter upload, telemetry, and DGPS

• Single ground station can control multiple units• HIL simulation mode

GroundStation

PiccoloAvionic

s

Sensors

Servos

PiccoloAvionics

AIRCRAFT

MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Organization and control

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MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Organization and control

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MULTI-UAV

INTEGRATION

FOR

COORDINATED

MISSIONS

Organization and control

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Veículos aéreos autónomos

Handset

Piccolos

CAN interface

GroundStation

Operator Interface Computer

Airplane Simulator & FlightGear

HardWare-In-the-Loop

Organization and control

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Platform configuration

• Piccolo manages low-level flight control• PC-104 for higher-level tasks (vision processing,

trajectory planning,…)• Independent radio links

GroundStation

PiccoloAvionic

s

Sensors

AIRCRAFT

PC-104PayloadDevices

Aircraft Low level control / Logging

Payload High level Control / Logging

Servos

Similar to Berkeley’s architecture

MULTI-UAV

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Organization and control

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Single vehicle controllers

UAV

Platform

Maneuver controller

Vehicle supervisor

StateMessages

Platform commands

StateMessages

AbortConfigurations

Maneuver commandsConfiguration commands

Execution eventsState

Mission supervisor

External controller

Vehicle maneuvers

IndividualMission

Team/task

Link

Control concepts

Platform commands

Follow_pathLoitter

Attack_jam

MULTI-UAV

INTEGRATION

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COORDINATED

MISSIONS

Organization and control

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MULTI-UAV

INTEGRATION

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MISSIONS

Support

Prof. Fernando Lobo Pereira

Prof. António Torres Marques

PESC projects

ISR – Instituto de Sistemas e Robótica

INEGI – Instituto de Engenharia Mecânica e Gestão Industrial

USTL – Underwater Systems and

Technology Laboratory

NAAM – Núcleo de Aeronáutica,

Aeroespacial e Modelismo

MULTI-UAV

INTEGRATION FOR

COORDINATED

MISSIONS

Ricardo Bencatel ricardo.bencatel@fe.up.pt

Pedro Almeida pinto.almeida@fe.up.pt

Gil Manuel Gonçalves gil@fe.up.pt

João Borges de Sousa jtasso@fe.up.pt

Website:whale.fe.up.pt/asasf