Challenges in Sensing, Communication, Coordination

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Group 1

What are the main challenges?

  • moving decisions on board
  • implicit communication/ without medium
  • local communication
  • how to control / monitor the distributed process "there is a human in the loop"
  • contraints are satisfied. have to be communicated / monitoring has to be achieved
  • what information is transmitted to whom. - reasoning
  • interpret and how to act on information
  • information for mission and for environment reliability versus success


What are the best suitable sensors, communication modules for small scale UAVs? What is available?

Hardware:

  • do we need to change hardware?
  • apriori knowledge via internet and sensing tool
  • learning capability on sensing, depending of weather or environment.
  • mesh architecture multi-hop. no wifi. issues with bandwith and reliabily.
  • outdoor: hardware for "real time gps", 3G networks for monitoring
  • Iridium protocol via email and sms.
  • multiple hardware for communication on one device to opportunitically use them.
  • multi communication hardware module
  • deviding which sensed data for which communication - do self finding on these
  • 4 G with the ground station and wifi.
  • multiple antenna approach.


UAV swarms are feasible?

  • yes feasible,

formation:

  • use given shape,
  • limitation of self-organization? not only local information.
  • technically feasible, no application right now.
  • no application yet. creating communication network.

How do we cooordinate the UAV to achieve team behaviour?

    • modest planing, some degree of hierarchy.
    • hierarchy of frequency of processors. corridor of freedom. network with distributed hierarichal freedom
    • change structure for different tasks.

technical limitations:

    • find specitic application areas.
    • we do not know the requirements for self organization
    • enable restricted form of self-organization is to use formation

conclusion

  • need for a team
  • cooperation from sensing and communication
  • interaction between sensing is missing
  • architecture is missing to break down the complexity


tight interaction of levels of limited freedom. Network needs ability of learning.

Group 2

What are the main challenges?

  • sensing - on board processing, latency, types of sensors - depending on the application
  • communication - wireless network challenges, application depending (task allocation, data transfer, ...), spectrum allocation
  • coordination - low level conrol issues, high level task allocation, feedback for the coordinator, distributes, centralized, ...


What are the best suitable sensors, ...?

  • depends on the application and tasks
  • wide range of modules available / chose best fitting one


Is UAV swarm feasible?

  • Swarm is not a good word ;)
  • discussion of potential market
  • technical challenges relate to sensing, commnication and coordination
  • some activities need to regularize the communication
  • how to coordinate the UAVs also is application depending (centralized or decentralized) / decentralized should be the ultimate goal


Group 3

Angela Schöllig, Enrico Natalizio, Ashutosh Natraj, Michael Hofbaur, Sascha Einspieler, Daniel Neuhold, Pasquale Grippa, Georg Heppner, Wilfried Elmenreich

What are the main challenges?

  • limited payload
  • processing power
  • data fusion
  • (self-)localization
  • coordination, synchronization of sensing
  • communication (range, loss)
  • collision avoidance
    • should work in worst case scenario (multiple UAVs, obstacles, communication outage)
  • robustness, handling of every possible situation
  • must be fail-operational to maintain safe state (situation-dependent)
  • optimizing the number of flying robots
  • find simple rules to create desired emergent behavior

What are the best suitable sensors, communication modules for small-scale UAVs? What is available?

  • sensors (should be light, low energy-consuming, low signal processing effort)
    • cameras
    • ultrasonic (for indoor, needs to be de-synchronized
    • infrared
    • contactsensors
    • LIDAR
    • IMU
    • GPS
    • wind sensor
    • barometric height sensor
    • sensing earth magnetic field
    • new integrated sensor modules (IMU, camera, processing unit)
  • communication modules for real-time interaction
    • radio, e.g., X-Bees
    • IR
    • remote control module (for legal reasons)
    • +ability for multi-hop/mesh networks
    • antenna design, transmission direction
  • command interface for autonmous swarms
    • Internet connection
    • UMTS

Is a UAV swarm feasible? What are the limitations?

depends on scenario, loosly coordinated UAVs flying over a field is possible, cooperatively lifting payload is difficult

  • cost
  • coordination
  • precision in localization
    • error progagation

How do we coordinate the UAVs to achieve team behavior?

  • central coordination
    • simple UAVs
    • communication
    • complexity, scalability
  • decentralized coordination
    • achieving optimal behavior
    • testing the system
    • designing the self-organizing algorithm
    • controllability
  • mixture of both
    • high-level goal done by centralized planning
    • local control for collision avoidance, etc.