MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS

1. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Ricardo Bencatel ricardo.bencatel@fe.up.pt Pedro Almeida pinto.almeida@fe.up.pt Gil Manuel Gonçalves gil@fe.up.pt João Borges de Sousa jtasso@fe.up.pt

2. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS • Background • Networked vehicles and systems • AsasF • Goals • Requirements • System breakdown structure • Status • Organization and control • Vehicle control • Multi-vehicle control Overview

3. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Background

4. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Motivation • Forest fires in Portugal • Oceanographic area • Trend in military • Less risk for the pilot Background Applications • Rescue, civil protection & commercial applications • Flying eye for rescue services • Hazard inspections • Surveillance • Military & governmental applications • Short range reconnaissance • Search mission • Critical area monitoring • Fire prevention

5. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS AirCargo challenge Background

6. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS AirCargo challenge Background

7. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Mixed Initiative Control of Automa-teams Process Communicate Background Sense Execute Atackl Plan Cooperatively Assess Atack Process Sense Cooperative Battle Management of Teamed UAVs

8. Underwater Systems and Technology Lab Porto University Mission Design and deployment of innovative solutions for oceanographic and environmental applications Vehicles Autonomous submarines Remotely operated submarines Unmanned air vehicles Technologies Systems engineering Navigation and control Acoustic networks Networked control systems Power/computer systems Applications Monitoring sea outfalls Coastal oceanography Underwater archaeology Inspection and intervention Courtesy of Michael Incze, NUWC

9. Portugal Academia da Força Aérea Portuguesa Instituto Superior de Engenharia do Porto United States University of California at Berkeley, USA C3UV Naval Postgraduate School, Monterey, CA, USA California Institute of Technology, CA, USA MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Cooperation Background

10. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Cooperative UAV Program (2005-) • Low cost UAVs • RC frame • Shares electronics and control with AUVs • Common CCC infrastructure • Composite materials • Long range • Coordinated operation • Formation flying • Other cooperative missions • Sensor networks and seagoing Vehicles Background

11. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Networked vehicles and systems

12. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS UAV UAV Surface buoy Autonomous surface vehicle AUV AUV Networked operations NetworkedControl Control station Navigation beacon Oceanographic sensors Drifting sensors Moored sensors Control station Moored sensors AUV

13. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS • Common thrusts on coordinated systems • Development of user-friendly operator interface; • To allow a single-user to control a whole fleet of vehicles • Research on distributed task assignment • Mixed-initiative (human operator in the control loop) environments NetworkedControl

14. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS AsasF

15. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Goals • Integrate Piccolo with the Neptus framework for planning and control of autonomous vehicles • Extend the Neptus framework to include UAV models and operational interfaces • Evaluate mixed initiative operations AsasF

16. Veículos aéreos autónomos Low-level AsasF • Take model airplane parameters • Mount autopilot in each aircraft • Perform tests carry out an autonomous flight demonstration High-level Coordinated Control • Control structure modelled through the framework of dynamic networks of hybrid automata • Tool to achieve coordinated control of multiple vehicles: Neptus framework.

17. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Requirements • Minimum payload of 4Kg • Modular, flexible, robust • Low cost • COTS components • Easy control and operation • Autonomous and remotely operated operation • Air data (Altitude, Air pressure, airspeed, GPS, RPMs) • Video acquisition and real time transmission • Operational console capable of specifying new waypoints for coordinated flight AsasF

18. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS System Breakdown Structure AsasF

19. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Vehicles • Large trainer • Low cost, easy to fix or replace • Stable platform • Room and payload capacity • UAV developed at Porto University AsasF

20. Veículos aéreos autónomos Brutus Super Telemaster Brutus v2 AsasF

21. Veículos aéreos autónomos AsasF

22. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Hardware AsasF • Handset FF9 • OS91FX engine • Servos • Electronic equipment (camera, Tx/Rx) • Piccolo avionics • Ground Station

23. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Status AsasF • Building of platform Telemaster (commercial aircraft model) and final adjustments to Brutus v1 • Brutus v2 development and building • Study of Piccolo’s controller and SDK communications • Study and implementation of HWIL simulation

24. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Organization and control

25. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Neptus at a glance • Distributed command and control infrastructure for multi-vehicle systems with mixed-initiative interactions • Supports mission life cycle • Planning • Simulation • Supervision • Review and analysis • Data dissemination Organization and control

26. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS UAV mission planning Organization and control

27. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Organization and control

28. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Sensors Piccolo Avionics Servos AIRCRAFT Ground Station Piccolo Avionics Piccolo Avionics System • Miniature flight control system • Radio link between ground station and avionics for command and parameter upload, telemetry, and DGPS • Single ground station can control multiple units • HIL simulation mode Organization and control

29. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Organization and control

30. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Organization and control

31. Veículos aéreos autónomos HardWare-In-the-Loop Airplane Simulator & FlightGear Piccolos Organization and control CAN interface Operator Interface Computer Handset GroundStation

32. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Platform configuration • Piccolo manages low-level flight control • PC-104 for higher-level tasks (vision processing, trajectory planning,…) • Independent radio links Organization and control Sensors Piccolo Avionics Servos Ground Station Payload Devices PC-104 AIRCRAFT Similar to Berkeley’s architecture Aircraft Low level control / Logging Payload High level Control / Logging

33. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Control concepts External controller Team/task UAV Individual Mission Mission supervisor Maneuver commands Configuration commands Execution events State Follow_path Loitter Attack_jam Link Vehicle supervisor Abort Configurations State Messages Vehicle maneuvers Maneuver controller State Messages Platform commands Platform Platform commands Single vehicle controllers Organization and control

34. MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Prof. Fernando Lobo Pereira Prof. António Torres Marques USTL – Underwater Systems and Technology Laboratory Support NAAM – Núcleo de Aeronáutica, Aeroespacial e Modelismo PESC projects ISR – Instituto de Sistemas e Robótica INEGI – Instituto de Engenharia Mecânica e Gestão Industrial

35. Website: whale.fe.up.pt/asasf MULTI-UAV INTEGRATION FOR COORDINATED MISSIONS Ricardo Bencatel ricardo.bencatel@fe.up.pt Pedro Almeida pinto.almeida@fe.up.pt Gil Manuel Gonçalves gil@fe.up.pt João Borges de Sousa jtasso@fe.up.pt