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PG FLYNET III

PG FLYNET III. Winter term 2011/12 and Summer term 2012. Hannes Frey hannes.frey@upb.de. Problem: Exploration of hazardous area. Required: Spatial distribution of a measurable quantity Employ flying drones – but how to navigate?. Problem: Exploration of hazardous area.

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PG FLYNET III

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  1. PG FLYNET III Winter term 2011/12 and Summer term 2012 Hannes Frey hannes.frey@upb.de

  2. Problem: Exploration of hazardous area • Required: Spatial distribution of a measurable quantity • Employ flying drones – but how to navigate? PG FLYNET III

  3. Problem: Exploration of hazardous area • Required: Spatial distribution of a measurable quantity • Employ flying drones – but how to navigate? Wireless connectivity: 1. Control data 2. Sensor data Maximize spatialcoverage PG FLYNET III

  4. Cooperation B B* A A* Improve coverage by cooperation Improved spatial coverage ...because errors occur independently B DA&A(A) DATA(A) DATA(A) Joint transmission helps... D$TA(A) A DATA(A) Larger distance ) more error-prone PG FLYNET III

  5. Autonomous sensor deployment • Network of small embedded devices • As additional sensor network • As wireless relays • Autonomous deployment of sensor nodes • Dropping mechanism and appropriate sensor casing (cooperation with DMRC) • Lightweight sensor electronics (with Dr. Porrmann, FG Schaltungstechnik) • Optimizing network topology on the fly PG FLYNET III

  6. Status: Our drones are extended MikroKopters Tripod for camera GPS Module NaviCtrl/FlightCtrl Compass USB WLAN RS232 Interface Embedded Linux Board (Beagle; so far) PG FLYNET III

  7. Status: deployment code in hardware and simulation maximize PG FLYNET III

  8. Problems faced by the forthcoming project group • Realizing an algorithm for robot team formation • Maximize coverage while keeping network quality • Consider cooperative diversity in team formation structure • Realizing an algorithm for deploying sensor nodes • Keep deployment decisions of neighboring quadrocopters into account • Use channel measurements among sensors nodes to aid in computing optimized positions for dropping a sensor node • Use cooperative diversity to improve wireless network among sensor nodes • Consider cooperative diversity in deployment structure • Autonomous starting and landing PG FLYNET III

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