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Daniel Guggenheim School of Aerospace Engineering
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ItemGeorgia Tech Aerial Robotics Team: 2009 International Aerial Robotics Competition Entry(Georgia Institute of Technology, 2009-07) Chowdhary, Girish ; Christmann, Hans Claus ; Johnson, Eric N. ; Salaün, Erwan ; Sobers, D. Michael Jr.This paper examines the use of low-cost range and target identification sensors on a stable flying vehicle for suitability in solving the 5th Mission proposed for the 2009 International Aerial Robotics Competition. The ability for vehicles to navigate unknown environments is critical for autonomous operation. Mapping of a vehicle's environment and self-localization within that environment are especially difficult for an Unmanned Aerial Vehicle (UAV) due to the complexity of UAV attitude and motion dynamics. Using a stable vehicle platform and taking advantage of the geometric structure typical of most indoor environments reduces the complexity of the localization and mapping problem to the point that wall and obstacle location can be determined using low-cost range sensors. Target identification is accomplished remotely using an onboard video camera with a radio transmitter. Thus complex and time-consuming image processing routines are run on a more powerful computer, enabling further miniaturization of the flight vehicle.
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ItemUAS Reference Scenarios for MANET Development(Georgia Institute of Technology, 2008-08) Christmann, Hans Claus ; Johnson, Eric N.After autonomous flight for Unmanned Aerial Vehicles (UAVs) has been accomplished, research was stipulated to look into application related challenges in connection with Unmanned Aerial Systems (UAS). As one possible scenario, swarms of collaborating UAVs can be envisioned and allow for more complex missions and scenarios. One essential building block in simultaneously operating several UAVs is the UAS internal and external communication. Ground control station operators need to communicate guidance, navigation, and control (GNC) data, external beneficiaries of the UAS operation need to be provided with obtained sensor data and intelligence. All this requires sophisticated wireless communication networks and Mobile Ad-hoc Networks (MANETs) step into the picture. However, evaluating the performance of different MANETs in a UAS environment is non-trivial: relevant metrics and evaluation procedures have to be established for a simulation based performance prediction during the design phase of a MANET. Unfortunately, published results on MANET performance are not necessarily comparable across different papers, due to differences in the underlying assumptions. Some findings might not even be applicable to a UAS environment. This paper proposes a set of reference scenarios in order to allow for comparable and applicable results in MANET simulations. The presented scenarios mimic realistic UAS missions, both, on the operational side of the participating network nodes, as well as on the network traffic side. The reference scenarios capture the essence of current UAVs and UAS missions in a civil, research, or military context, hence providing the means to simulate different MANET protocols in a UAS setting.
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ItemGuidance, Navigation, Control, and Operator Interfaces for Small Rapid Response Unmanned Helicopters(Georgia Institute of Technology, 2008-04) Christmann, Hans Claus ; Christophersen, Henrik B. ; Wu, Allen D. ; Johnson, Eric N.This paper focuses on the development of small rapid response reconnaissance unmanned helicopters (1 to 3 kg, electric), for use by the military in urban areas and by civilian first responders, in terms of system architecture, automation (including navigation, flight control, and guidance), and operator interface designs. Design objectives include an effective user interface, a vehicle capable of smooth and precise motion control, an ability to display clear images to an operator, and a vehicle that is capable of safe and stable flight.
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ItemSelf-configuring ad-hoc networks for unmanned aerial systems(Georgia Institute of Technology, 2008-04-01) Christmann, Hans ClausCurrently there is ongoing research in the field of Mobile Ad-hoc Networks (MANET) for several different scenarios. Research has focused on topology related challenges such as routing mechanisms or addressing systems, as well as security issues like traceability of radio communication or encryption. In addition, there are very specific research interests such as the effects of directional antennas for MANETs or optimized transmission techniques for minimal power consumption or range optimization. Unmanned aerial vehicles (UAVs), and unmanned aerial systems (UAS) in general, need wireless systems in order to communicate. Current UAS are very flexible and allow for a wide spectrum of mission profiles by means of utilizing different UAVs, according to the requirements at hand. Each mission poses special needs and requirements on the internal and external UAS communication and special mission scenarios calling for UAV swarms increase the complexity and require specialized communication solutions. UAS have specific needs not provided by the general research, but are, on the other hand, to diversified to make much use of narrowly focused developments; UAS form a sufficiently large research area for application of MANETs to be considered as an independent group with specialized needs worthy of tailored implementations of MANET principles. MANET research has not tackled a general approach to UAS although some sources show specific applications involving UAVS. This work presents some new aspects for the development of of ad-hoc wireless networks for UAVs and UAS and focuses on their specialties and needs. A general framework for MANET development is proposed. Furthermore, the proposed specific evaluation scenarios provide for a UAS focused comparison of MANET performance.
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ItemDesign and Implementation of a Self-configuring Ad-hoc Network for Unmanned Aerial Systems(Georgia Institute of Technology, 2007-10) Christmann, Hans Claus ; Johnson, Eric N.Unmanned aerial vehicles (UAVs), and unmanned aerial systems (UAS) as such in general, need wireless networks in order to communicate. UAS are very flexible and hence allow for a wide range of missions by means of utilizing different UAVs according to the mission requirements. Each of these missions also poses special needs and requirements on the communication network. Especially, mission scenarios calling for UAV swarms increase the complexity and call for specialized communication solutions. This work focuses on these specialties and needs and describes the selection process, adaptation and implementation of an ad-hoc routing protocol tailored to an UAV surrounding and a correspondingly adapted communication method.