Difference between revisions of "Challenges in Sensing, Communication, Coordination"
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==Group 1== | ==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== | ==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== | ==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?=== | ===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?=== | ===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 | |
− | ===Is a UAV swarm feasible? What are the limitations?===How do we coordinate the UAVs to achieve team behavior?=== | + | ** 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. |
Latest revision as of 12:11, 10 July 2013
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.