cooperation of multiple heterogeneous vehicles - pea...

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Cooperation of multiple heterogeneous vehicles

PEA Action - 2007 / 2014

2 An overview of PEA Action

The goals of PEA Action

• “Investigate the available means and design future technologies in order to upgrade the performance of the localization function within a network of heterogeneous autonomous vehicles”

• Funding: French Defence procurement agency DGA MI (Maîtrise de l'Information)

• Follow-up: DGA TT (Techniques Terrestres) et DGA TN (Techniques Navales)

• Localization of: friends, foes, targets, landmarks, obstacles

• GPS-independent localization means, as much as possible

• Scientific experiments involving multiple uninhabited vehicles

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Project team

• ONERA - The French Aerospace LabContact: Magali Barbier ([email protected])

DCSD and DTIM departments:• DCSD: Systems control and Flight Dynamics department

Research Units CD and CDIN• CD: Decision and Control• CDIN: Control and Integration

• DTIM: Modelling and Information processing departmentResearch Unit EVS: Estimation and Vision

• LAAS/CNRS – Laboratory for Analysis and Architecture of Systems / French National Centre for Scientific ResearchContact: Simon Lacroix ([email protected])

Robotics and Interactions RIS, Robotics, Action and Perception RAP groups


Project schedule

• Consolidation (C.) and Experiment (E.) phases

Scenarios I, III, V and VI: air-groundScenarios II and IV: air-sea

2007 2008 2009 2010 2011 2012 2013

C. I à IVE. II et IVC. V et VIE. I et IIIE. V et VI

2014

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Six scenarios

• 4 air-ground scenarios, from 2 to 12 vehicles (AAV and AGV)• Infrastructure surveillance mission: localization and tracking of

non-cooperative targets• Growing complexity: areas, targets, disruptive events…

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AAV Autonomous Aerial Vehicle

AGV Autonomous Ground Vehicle


Six scenarios

• 2 air-sea scenarios, with 2 and 3 vehicles (AAV, AUV, ASV)• Securing mission• Fight against water pollution mission

AAV Autonomous Aerial Vehicle

AUV Autonomous Underwater Vehicle

ASV Autonomous Surface Vehicle

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Vehicles for scientific demonstrations

• VTOL Yamaha RMax ONERA-ReSSAC• AAV Dala, Mana Laas/CNRS• On-going selection of other vehicles


PEA Action subjects

• Scientific subjects• Data fusion• Decision making: planning, supervision

• Cross-disciplinary subjects• Project management and quality• State of the art• Publications and workshop organization• Scenario consolidation• Simulation• Specification and vehicle selection• Experiments

• Web Site: http://action.onera.fr/welcome/

Multivehiclearchitecture

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Approach / Scientific subjects

• From Onera and Laas State of the art• And from literature state of the art

• Focus on AxV cooperative teams• Autonomy is shared with human operator• Simulations, experiments and demonstrations

• Incremental approach: scenarios with growing complexity


Scientific work

• Data fusion• Data processing for the localization function• SLAM (Simultaneous Localization and Mapping) of vehicles, targets and landmarks• Layered environment modeling

• Tracking of targets

• Planning• Plan = sequence of actions or policy• Coordindation for cooperation: rendez-vous, communication• Offline preparation and online repair or replanning

• Supervision• Online control of the execution of planned actions

• Reactions trigger depending on current and predicted situations• Execution of elementary actions: move, perception, communication, replanning

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Scientific work �� Decisional architecture

Data fusion

Situation tracking

Supervision Planning

State of vehicles, environment, targets

High level knowledge of system state

Data

Moves, Perceptions, Communications datacontrol

Mission


Evaluation

• Simulations• Blender-based simulation

architecture• Vehicle in the loop (hybrid)

• Experiments• Detection Classification

Identification and Localization • DCI : emulation or simulation

cooperation of multiple heterogeneous vehicles - pea...

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