Difference between revisions of "Challenges in Sensing, Communication, Coordination"
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(→How do we coordinate the UAVs to achieve team behavior?) |
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===How do we coordinate the UAVs to achieve team behavior?=== | ===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. |
Revision as of 11:31, 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"
Group 2
Group 3
What are the main challenges?
- limited payload
- processing power
- (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
What are the best suitable sensors, communication modules for small-scale UAVs? What is available?
- sensors
- cameras
- ultrasonic (for indoor, needs to be de-synchronized
- infrared
- contactsensors
- LIDAR
- IMU
- GPS
- wind sensor
- barometric height sensor
- sensing earth magnetic field
- communication modules
- radio, e.g., X-Bees
- IR
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
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.