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Unmanned Aerial Vehicles
Jessica Jobski
Universitat HamburgFakultat fur Mathematik, Informatik und Naturwissenschaften
Department InformatikIntegriertes Seminar Intelligent Robotics ’10
10. Juni 2010
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2
DefinitionGeneral information
UsageOverview of UAVs
Challenges
Outline
1 Definition
2 General informationTypical goals
3 UsageMilitary useCivil use
4 Overview of UAVs
5 ChallengesChallenges similar to land-based robotsChallenges specific to aerial vehiclesCategories for important technology in the future
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
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DefinitionGeneral information
UsageOverview of UAVs
Challenges
Definition
• An unmanned aerial vehicle(UAV) is an aircraft thatflies without a humancrew on board the aircraft.
• UAVs can be distinguished inremotely piloted aircrafts(drones) and autonomousflying aircrafts.
Bwe will focus on the latter
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
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DefinitionGeneral information
UsageOverview of UAVs
Challenges
Recalling: Size of UAVs
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
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DefinitionGeneral information
UsageOverview of UAVs
Challenges
Typical goals
Typical goals
• Automatically start operation and takeoff.
• Fly to a designated area (on a prescribed path) whileavoiding obstacles.
• Search and locate object of interest in the designated area.
• Visually lock on to and track or, if necessary, pursue theobjects.
• Send back images to a ground station while tracking theobjects.
• Safely return and land.
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
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DefinitionGeneral information
UsageOverview of UAVs
Challenges
Military useCivil use
Military use
• armed attacks
• reconnaissance andsurveillance
• transportation
Abbildung: 2010: Phantom Raystealth, first(?) unmanned fighter drone
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
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DefinitionGeneral information
UsageOverview of UAVs
Challenges
Military useCivil use
Civil use
• remote sensing (biological, chemical, electromagnetic)
• aerial mapping/scientific research in dangerous areas
• scientific research on insect-like behaviour
• search and rescue (hurricanes, earthquakes)
• transportation
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
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DefinitionGeneral information
UsageOverview of UAVs
Challenges
Overview of UAVs
• Rotary-wing
• Fixed-wing
• Blimps
• Other
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
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DefinitionGeneral information
UsageOverview of UAVs
Challenges
Rotary-wing
• Carnegie MellonUniversity:AutonomousHelicopter Project
• research since 1991
• laserscanner,gpsreceiver
• Vision-based stabilityand control
• Autonomous takeoff,trajectory followingand landing
• Aerial mapping
• Object recognitionand manipulation [V]
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
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DefinitionGeneral information
UsageOverview of UAVs
Challenges
Fixed-wing
• Brigham Young University MAGICC Lab
• research on multi-agent technologies [V]
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
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DefinitionGeneral information
UsageOverview of UAVs
Challenges
Blimps
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
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DefinitionGeneral information
UsageOverview of UAVs
Challenges
Other: Entomopter
• generates autonomic wing beating from a chemical source [V]J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
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DefinitionGeneral information
UsageOverview of UAVs
Challenges
Other: Micromechanical Flying Insect
The goal of themicromechanical flying insect (MFI) project is to develop a 25 mm(wingtip-to-wingtip) device capable of sustained autonomous flight.The MFI is designed based on biomimetic principles to capturesome of the exceptional flight performance achieved by true flies.
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
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DefinitionGeneral information
UsageOverview of UAVs
Challenges
Challenges similar to land-based robotsChallenges specific to aerial vehiclesCategories for important technology in the future
Challenges similar to land-based robots
• Localization
• Path-Planning
• Collision-avoidance
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
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DefinitionGeneral information
UsageOverview of UAVs
Challenges
Challenges similar to land-based robotsChallenges specific to aerial vehiclesCategories for important technology in the future
Challenges specific to aerial vehicles
• Height above ground level
• Orientation of aircraft
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
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DefinitionGeneral information
UsageOverview of UAVs
Challenges
Challenges similar to land-based robotsChallenges specific to aerial vehiclesCategories for important technology in the future
Categories for important technology in the future I
• Sensor fusion: Combining information from different sensorsfor use on board the vehicle
• Communications: Handling communication and coordinationbetween multiple agents in the presence of incomplete andimperfect information
• Motion planning (also called Path planning): Determining anoptimal path for vehicle to go while meeting certain objectivesand constraints, such as obstacles
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
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DefinitionGeneral information
UsageOverview of UAVs
Challenges
Challenges similar to land-based robotsChallenges specific to aerial vehiclesCategories for important technology in the future
Categories for important technology in the future II
• Trajectory Generation: Determining an optimal controlmaneuver to take to follow a given path or to go from onelocation to another
• Task Allocation and Scheduling: Determining the optimaldistribution of tasks amongst a group of agents, with timeand equipment constraints
• Cooperative Tactics: Formulating an optimal sequence andspatial distribution of activities between agents in order tomaximize chance of success in any given mission scenario
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
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DefinitionGeneral information
UsageOverview of UAVs
Challenges
The future?
Robots on Mars?
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles