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STARMAC The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control

STARMAC The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control. Gabe Hoffmann, Haomiao Huang, Vijay Pradeep, Steven Waslander Aeronautics and Astronautics, Stanford University Claire Tomlin Aeronautics and Astronautics, Stanford University

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STARMAC The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control

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  1. STARMACThe Stanford Testbed of Autonomous Rotorcraft forMulti-Agent Control Gabe Hoffmann, Haomiao Huang, Vijay Pradeep, Steven Waslander Aeronautics and Astronautics, Stanford University Claire Tomlin Aeronautics and Astronautics, Stanford University Electrical Engineering and Computer Science, UC Berkeley MURI Review Meeting Frameworks and Tools for High-Confidence Design of Adaptive, Distributed Embedded Control Systems Berkeley, CA September 6, 2007

  2. STARMAC • Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC) • Testbed Composition • 6 quadrotor helicopters • Autonomous UAVs • Onboard computation & sensors • State and environment estimation • Attitude, altitude, position and trajectory control • Testbed goals • Quadrotor UAV design • Cooperative multi-agent control • Mobile sensor networks

  3. Quadrotor Features • Vertical Takeoff and Landing (VTOL) • Easy to use indoors and outdoors • No runway required • Safety • Rotor kinetic energy distributed to 4 blades • Rotors can be within the frame • Can fly indoors without harm to user or aircraft • Control Design • More linear than standard helicopters • Maintenance • Few moving parts • Durable exterior protects contents • Cost • Can be fabricated in the lab • Made of low-cost parts • Low maintenance requirements

  4. STARMAC Development

  5. STARMAC Quadrotor Helicopter Low Level Control Processor Robostix Carbon Fiber Tubing Fiberglass Honeycomb High LevelControl Processor Stargate SBC or PC/104 Plastic Tube Straps GPS Superstar II BrushlessDC Motors Axi 2208/26 Sonic Ranger SRF08 Inertial MeasurementUnit (IMU) 3DMG-X1 Electronic Speed Controller Phoenix 25 Battery Lithium Polymer LIDAR Hokuyo URG-04LX Stereo Vision Videre Systems Small Vision System

  6. Quadrotor Helicopter Actuation • Two pairs of counter rotating blades provide torque balance • Angular accelerations and vertical acceleration are controlled by varying the propeller speeds. Yaw Torque Roll/Pitch Torque Total Thrust

  7. STARMAC Network Wifi Netgear Rangemax 802.11g+≤ 54 Mbps Ethernet 100 Mbps Control Laptop Computer Pentium Core Duo1 GB RAM, 2.16 GHz Running Labview and ssh sessions GroundGPS Superstar II RS232 19.2 kbps

  8. STARMAC Electronics System LIDAR URG-04LX 10 Hz ranges RS232 115 kbps PC/104 Pentium M1GB RAM, 1.8GHz Est. & control WiFi 802.11g+ ≤ 54 Mbps USB 2 480 Mbps Stereo Cam Videre STOC 30 fps 320x240 Firewire 480 Mbps RS232 GPS Superstar II 10 Hz UART 19.2 kbps Stargate 1.0 Intel PXA25564MB RAM, 400MHz Supervisor, GPS WiFi 802.11b ≤ 5 Mbps CF 100 Mbps UART115 Kbps UART IMU 3DMG-X1 76 or 100 Hz UART 115 kbps Robostix Atmega128 Low level control Ranger SRF08 13 Hz Altitude I2C 400 kbps PPM100 Hz Analog Ranger Mini-AE 10-50 Hz Altitude Beacon Tracker/DTS 1 Hz ESC & Motors Phoenix-25, Axi 2208/26 Timing/Analog

  9. Low Level Control • Event Driven • Real-time execution based on • Known transmission / receipt rates • Measurement of code chunk execution times • Fault Tolerant Communication Main (this is an asynchronous event) SG RX IMU RX SG TX IMU TX

  10. Applications Decentralized Collision Avoidance Information Seeking Target Localization

  11. “Flyer Brain” Architecture Interfaces signal serial UDP Fcn call Sensor Processing Estimator COMM CLASS Controller Planner LIDAR Enviro GPS GPS comm LIDAR Lidar comm Real TimeController GPS Calc State Estimator ROBO Robo comm GND comm GND GUI & Storage any GUI (10 Hz) all Flyers Flyer comm Logging all

  12. Questions?… and demo…

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