UAV Multi-Agent SysTEm Research (MASTER) LAB

Transcription

1 UAV Multi-Agent SysTEm Research (MASTER) LAB Dr. Manish Kumar Associate Professor University of Cincinnati Dr. Kelly Cohen Professor, Univ. of Cincinnati UAVs for Emergency Responders University of Cincinnati-Aug. 10, 2016

2 UAV UC has a very strong research program in the areas of UAVs that focuses on the following research areas Navigation and path planning Multi-sensor fusion for situational awareness and tracking Novel UAV design, system ID, and control Large scale optimization for tasking and resource allocation Novel quad-rotor design and control Tracking of ground objects UAV path planning in National Air- Space System identification and control of multi-copters

3 UAV UC UAVs for wildfire monitoring UAVs for package delivery with Workhorse Dr. Wei in West Virginia Winner of Indoor Navigation Challenge, AAVC Prof. Franck Cazaurang flying a quad-copter in the UAV Master

4 Introduction to SIERRA Intro to SIERRA Value Proposition Timeline Main Features of the Technology A small-uav gathers real-time data that includes vision/infrared videos, and flight data from GPS and Inertial Measurement Unit Data processed to obtain current locations of wildfires and geo-referenced to mapping services such as google maps Real-time data combined with environmental and topographic information fed to fire prediction model to provide predicted growth of fire fronts to aid resource allocation/decisionmaking People Impacted Publications and Media

5 Technological Innovations Control and autonomous navigation Introduction to SIERRA Intro to SIERRA Value Proposition Timeline Publications and Media Autonomous search of ground events Autonomous hot-spot visit for persistent monitoring Data processing and information portrayal Auto-pilot Design Tracking of Maneuvering Ground Targets Video processing for smoke removal, hot-spot and human identification User interface development

6 Value Proposition Intro to SIERRA Value Proposition Timeline Publications and Media Save lives and property by enhanced real-time information and decision making: The proposed UAV based platform provides an unprecedented opportunity to gather real-time information and deliver emergency supplies. Such capability, currently unavailable, will allow the firefighters to make decisions to save lives and suppress fire in most efficient manner. Ease of use by first responders: As opposed to other UAV platforms available in the market, this platform will provide push-button facility to operate the UAV and visualize the information. Such a capability is invaluable for non-pilots working in heavy stress situations.

7 Fall 2010 Demo #1 & #2 with West Virginia Forestry Spring Fall 2011 SIERRA - Timeline Intro to SIERRA Value Proposition Timeline Publications and Media NSF BECS Project (EFRI ) NASA/OSGC funding of $25K Fire-fighting training for UC graduate student UAV flight training in Georgia Extensive media coverage of SIERRA on Discovery Channel, BBC radio, local TV Demo #3 with West Virginia Forestry NSF I-Corps Project (IIP ) July Feb 2014 UAV Package delivery system gets extensive media coverage UC receives COAs for flight operations June 2014 Nov 2015 NSF PFI Project: (IIP ) Demo #4 with West Virginia Forestry Seeking support from UC business accelerator program Prep of 3 invention disclosures NSF CHSI Project: ( ) Winter 2016 Team wins 2 consecutive Autonomous Aerial Vehicle Competitions:

8 People Impacted Intro to SIERRA Value Proposition Timeline People Impacted Publications and Media Graduate Students Undergraduate Students Collaborators Bryan Brown, Current M.S. Student Alireza Nemati, Current Ph.D. Student Anoop Sathyan, Current Ph.D. Student Nathaniel Richards, Current Undergraduate Student Liberty Shockley, Current Undergraduate Mr. Rodger Osborne West Virginia, Dept. of Forestry Ch. Thomas Lakamp District Fire Chief, Cincinnati Fire Department Mohammad Sarim, Current Ph.D. Student Balaji Sharma, Ph.D. 2013, Now at Mathworks M. Radmanesh, Current M.S. Student Jeff Bennett, Current Undergrad Student Nick Stockton, Current Undergrad Student Prof. Larry Bennett Head, Fire Science, University of Cincinnati Sushil Garg, M.S. 2013, Now at Google Ruoyu Tan, M.S. 2013, Now at PSU Sarthak Kukreti Current Ph.D. Student Connor Kress and Kyle Lentz Founders, Hephaestus LLC Steve Burns Workhorse Group

9 Publications and Media Intro to SIERRA Value Proposition Timeline People Impacted Publications and Media Publications: 11 Journal papers, 2 book chapters, 1 invention disclosure, 20+ conference papers HomChaudhuri, B., Kumar, M., and Cohen, K., Resource Allocation and Optimal Fireline Building using a Genetic Algorithm for Fighting Forest Fires, International Journal of Computational Methods, Vol. 10, No. 6, 28 pages, 2013, DOI No.: /S Tan, R. and Kumar, M., Tracking of Ground Mobile Targets by Quadrotor UAVs, Journal of Unmanned Systems, Vol. 2, No. 2, pp , Radmanesh, M., Kumar, M., Nemati, A., and Sarim, M., Dynamic Optimal UAV Trajectory Planning in the National Airspace System via Mixed Integer Linear Programming, accepted in the Journal of Aerospace Engineering, Wei W., Tischler, M., Schwartz, N., and Cohen, K., System Identification and Flight Control of a Unmanned Quadrotor, Novel Concepts in Unmanned Aircraft Aerodynamics and Flight Stability, Editor Pascual Marques, Wiley, 2015 (Chapter written, reviewed and accepted by Editors in final version Estimated Print Fall Kivelevitch E., Cohen, K., and Kumar, M., Near-Optimal Assignment of UAVs to Targets Using a Market-Based Approach, Operations Research for Unmanned Systems, Jeffrey R. Cares and John Q. Dickmann, PhD, editors. Wiley, 2015, Chapter written, reviewed and accepted by Editors in final version, Estimated Print Winter Sharma, B., Kumar, M., and Cohen, K., Spatio-Temporal Estimation of Fire Growth, ASME Dynamic Systems and Control Conference, Palo Alto, CA, Brown, B., Wei, W., Ozburn, R., Kumar, M., and Cohen, K., Surveillance for Intelligent Emergency Response Robotic Aircraft (SIERRA)- VTOL Aircraft for Emergency Response, AIAA Aerospace, AIAA Science and Technology Forum, Jan Invention disclosure/provisional patent Earth-Fixed Inertial Frame Based Radio Controller (RC) for Multi-copter UAVs, Disclosure filed on 02/09/15, Approved for provisional patent application on 9/10/15 Media coverage: 4 Local and national TV, 1 Radio (BBC), and 20+ print media TV WCPO Ahead of the storm, March 26, 2015 SIERRA, Daily Planet, Discovery Channel Canada, Feb. 9, 2012 Horsefly: delivery drone, Bloomberg TV, Dec. 22, 2014 Print Using Unmanned Systems to Fight Wildfires, Nov The Dream of Delivery Drones Is Alive (And On A Truck), Deb. 18, 2015 Onlinemd: Top ten UAV programs in US,

10 Octo-Copter Package Delivery UC is partnering with AMP Electric Vehicles on package delivery using Octo-rotor UAVs. Rather than a UAV traveling straight from warehouse to delivery site, this duo will be able to more efficiently deliver a large amount of packages. The UAV can recharge wirelessly using the truck s battery, and safety redundancies are in place such as the octorotor design. Other ease-of-use features are planned, such as the ability for the HorseFly to scan a package s barcode and then autonomously navigate to the destination.

11 Package Delivery with Workhorse Group

12 Fault Tolerant Flight Control Fault tolerance means The UAV should be able to complete its mission in case of individual component failure The UAV should gracefully abort its mission in a safe manner Failures could be Motor/rotor failures Sensor/communication failure Working with Prof. Franck Cazaurang of UB Using flatness property to design fault tolerance Using novel UAV design Novel quad-rotor design and control

13 Unmanned Aerial Vehicles: Tracking of Ground Maneuvering Targets Ghose et. al., 2006

14 Tilted-Rotor Quad copter

15 Integration of UAVs in the National Airspace Developing algorithms for management of UAV traffic ADS-B provides flight data to neighboring aircrafts Objectives: maintain separation to avoid collisions while fulfilling UAV s mission Parimal Kopardekar, Manager, NextGen Concepts and Technology Development Project, NASA AMES

16 Smart Unmanned Aerial Vehicle for Exploration (SUAVE) Autonomous Aerial Vehicle Competition

17 Winner of National Autonomous Aerial Vehicle Competitions Aug. 26, 2014 April 28, 2015

18 Acknowledgement of Support National Science Foundation Army Research Office Missile Defense Agency Ohio Space Grants Consortium Dayton Area Graduate Students Institute Air Force Research Lab NASA