Difference between revisions of "Multi-UAV system design"
From Self-Organization Wiki
m (→what is a multi-uav system) |
m (→what are the building blocks of an autonomous multi-UAV system) |
||
| Line 61: | Line 61: | ||
=== what are the building blocks of an autonomous multi-UAV system === | === what are the building blocks of an autonomous multi-UAV system === | ||
| − | * Hardware requirements | + | * Hardware requirements for individual UAVs |
** Power supply | ** Power supply | ||
** Communication | ** Communication | ||
| Line 68: | Line 68: | ||
** Computation | ** Computation | ||
* System requirements | * System requirements | ||
| − | ** Logic/ | + | ** Logic/ Control logic / AI |
| − | ** Flight | + | ** Flight control system that stablizes the system |
* some sort of feedback about the position of sorrounding UAVs is needed for each uav | * some sort of feedback about the position of sorrounding UAVs is needed for each uav | ||
* Mission control | * Mission control | ||
| − | ** Does the mission | + | ** Does the mission control need to know about the UAV systems? Like what type of sensors it uses? |
** Depending on definition of the system. If the UAV is autonomous or if the whole system is autonomous | ** Depending on definition of the system. If the UAV is autonomous or if the whole system is autonomous | ||
Revision as of 13:17, 8 July 2013
Contents
Group 1
Roland Siegwart, Evsen Yanmaz, Torsten Andre, Christof Hoppe, Michael Rischmuller, István Fehérvári, Wilfried Elmenreich
What is a multi-UAV system?
- airborne
- two or more UAVs, possibly also heterogeneous
- have to share knowledge
- information exchange during operation
- indirect or direct communication
- don't have to share a common objective
- collaboration or coordination
What are the building blocks of an autonomous multi-UAV system?
- networking, some form of communication
- sensing system: cameras, ultra-sonic
- interaction with the environment
- sharing representation
- bottom-up/top-down
- bottom up: team of individuals
- top down: designed as a team
- fail-operational or fail-safe
- swarm of simple systems/swarm with a leader/swarm of highly intelligent systems
What are the design challenges?
- technical challenges, see above
- mission-specific or one system fits all?
- system integration
- legal issues, regulations
- responsibility
- privacy
- public perception, acceptance
Is autonomy desirable? When?
- yes, for a large number of UAVs
- for a large area, remote location
- if problem is well-defined and easy
- no, to avoid legal issues
- if problem is complex, not trackable
Group 2
Definitions
- Autonomy
- executing tasks within a certain constrained area
- scale from complete pilot control to complete uav control for decission making
- autonomy can be defined for various scopes ( from the individual robot to a whole system including the operators)
- a pilot with the UAV could be a system, a tower communicating with them could be external. Where to draw the line is questionable
- usualy the definition of autonomy only applies to the UAV system itself
- Event though there are different definitions of autonomy we set the scope only on an individual plattform
what is a multi-uav system
- UAV:
- plattform
- (not piloted by a human)
- capable of aerial flight
- moves in 3 Dimensions
- n>1
- can be but does not need to be homogenoeus
- either there must be a common understanding of the task or some form of communication otherwise it is not a system
what are the building blocks of an autonomous multi-UAV system
- Hardware requirements for individual UAVs
- Power supply
- Communication
- Propulsion
- Sensors
- Computation
- System requirements
- Logic/ Control logic / AI
- Flight control system that stablizes the system
- some sort of feedback about the position of sorrounding UAVs is needed for each uav
- Mission control
- Does the mission control need to know about the UAV systems? Like what type of sensors it uses?
- Depending on definition of the system. If the UAV is autonomous or if the whole system is autonomous
what are the design challenges?
- Do we need a sense and avoid system for UAVs? (whatever that means)
- Defining the Terms UAV-System and Autonomy
- Where do we draw the line for a system and what falls under Autonomy
- Decicde where and how a system should learn and abstract
- Central vs. Decentral controll
- Central coordination
- huge communication overhead
- huge computational constraints
- Decentral design
- Some form of coordination and parralelization needs to be there
- Communication is a problem
- Competing Robots or collaborating?
- Central coordination
is autonomy desirable? When?
- Not desirable, it's essential
- No conitinouus controll is possible ( communication fails)
- Unpredicted environment changes or internal changes (prop dead)
- Gravity is a problem. if you stand still you drop :)
- multiple UAVs make the problem harder
- As each UAV needs to interact with the environment autonomously it would also need to interact with all the other UAVs (which then are part of the enivornment)
- It would be very hard to controll all of them from a single point
Group 3
What is a multi-UAV system?
- at least two UAVs
- combine information
What are the building blocks of an autonomous multi-UAV system?
- sensing
- signal processing
- actuation
- computation
- control
- power
- power management
- communication
- user interface
- coordination
- cooperation
- appropriate mechanical design
- IN ADDITION: mechanical design and application design blocks
What are the design challenges?
sensor fusion
- power management
- processing power
- redundancy, safety
- heterogeneity of platforms
- interdisciplinary knowledge needed
- strict regulations
- failure robustness
- "self healing"
Is autonomy desirable?
- ... with multi-UAVs, there is no choice
- better, more deterministic performance
