Challenges in Sensing, Communication, Coordination
From Self-Organization Wiki
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)
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
