Multi-UAV system design
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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
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
