Center for the Collaborative Control of Unmanned Vehicles (C3UV)

1. Center for the Collaborative Control of Unmanned Vehicles (C3UV) UC Berkeley Karl Hedrick, Raja Sengupta

2. Berkeley’s Collaborative UAV Mission • Research objectives: 1- Coordinated flight and dynamically reconfigurable formations 2- Higher layer of coordinated team control that autonomously integrates teams of self-navigating platforms 3- Vision based closed loop navigation

3. Wing-Mounted Camera allowing for vision-based control, surveillance, and obstacle avoidance Ground-to-Air UHF Antenna for ground operator interface GPS Antenna for navigation 802.11b Antenna for A-2-A comm. Payload Tray for on-board computations (PC104) and devices Payload Switch Access Door for enabling / disabling on-board devices Current UAV Platform Configuration

4. Off-the-shelf PC-104 with custom Vibration Isolation for on-board recording. Orinoco 802.11b Card and Amplifier for A-2-A comm. Analog Video Transmitter for surveillance purposes Printed Circuit Board for Power and Signal Distribution among devices. Umbilical Cord Mass Disconnect for single point attachment of electronics to aircraft. Keyboard, Mouse, Monitor Mass Disconnect for access to PC-104 through trap door while on the ground. Current Payload Configuration

5. Future Experimental System • DURIP funded multi-aircraft test bed • Six Primary Components • A. Five new aircraft with improved payload capacity and configuration • B. Upgraded autopilots with improved autopilot functions • C. New sensors-(bullet cameras, fisheye lenses, IR camera, radar, IMU, gimbals) • D. New air-to-air communications system • E. New video downlink system

6. MLB Bat IVAircraft • Improved payload weight (25lbs) and volume • Improved logistics: 7.5 hour duration, onboard generator

7. UC Berkeley UAV Test Locations UAV Research Operations Conducted at Moffett Field, California

8. Camp Parks , Dublin

9. Crows Landing

10. Applications (STTR) Would like to use UAV’s for: • Convoy Protection • Provide local as well as over-the-horizon visual coverage • Search & Rescue (SAR) - Assist in search using infrared (IR) camera while flying abreast with manned helicopter • Perimeter Surveillance/Border Patrol • Coordinated surveillance and target recognition and tracking.

11. BLCC- Berkeley “Language” for Collaborative Control • Define the mission and communicate it to team members • Define the “state” of each agent • Define the mission “state” • Allow for faults • Allow for conflict resolution • Define the information to be communicated between agents.

12. Agents (UAVs) • Transition Logic: Governs transitions of tasks and subtasks • Communication: Deconflicts plans and synchronizes information between agents vs. • Planner(ex. path-planner): calculates cost, generates plan and chooses “todo” • Low-level Controller (ex. waypoint tracker)

13. VISION AS THE PRIMARY SENSOR • There are many applications where GPS is not available or not reliable • We are looking at using vision in the navigation feedback loop

14. Generalization: Vision Based Following of Locally Linear Structures(Closed Loop on the California Aqueduct, June 2005)

15. JULY 15 DEMOS • Two-plane flight demonstration with vision-based canal following task permissible • Three-plane flight demonstration with location visit and border patrol tasks with dynamic reallocation of resources.

16. COLLABORATING UAV’S July 15, 2005 Multi-Vehicle Demonstration

17. System Level Architecture Mission Control Ground-to-Air Communications Air-to-Air Communications (802.11b) Collaboration Collaboration Switchboard Switchboard UAV Piccolo Autopilot UAV Piccolo Autopilot Aircraft 1 Aircraft 2

18. Mission Control GUI • MissionControlGUI .avi

19. The End