Difference between revisions of "Challenges in Sensing, Communication, Coordination"
From Self-Organization Wiki
(→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?) |
||
Line 40: | Line 40: | ||
** radio, e.g., X-Bees | ** radio, e.g., X-Bees | ||
** IR | ** IR | ||
+ | ** remote control module (for legal reasons) | ||
===Is a UAV swarm feasible? What are the limitations?=== | ===Is a UAV swarm feasible? What are the limitations?=== |
Revision as of 11:36, 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 (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
- communication modules
- radio, e.g., X-Bees
- IR
- remote control module (for legal reasons)
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.