Software Enabled Control for Intelligent Uninhabited Air Vehicles UAVs Rotary Wing Mid Term and Fina

1
Software Enabled Controlfor Intelligent
Uninhabited Air Vehicles (UAVs)Rotary Wing Mid
Term and Final Experiments

• Principal Investigators
• Daniel Schrage (AE) George Vachtsevanos (ECE)
• School of Aerospace Engineering School of
  Electrical and Computer Engineering
• Georgia Tech Georgia Tech
• Atlanta, GA 30332 Atlanta, GA 30332
• daniel.schrage_at_ae.gatech.edu george.vachtsevanos_at_e
  ce.gatech.edu
• (404) 894- (404) 894-
• Co-PIs and Key Personnel
• Bonnie Heck (ECE), Eric Johnson (AE), J.V.R.
  Prasad (AE), Linda Wills (ECE)
• Plus several research engineers and a number of
  graduate students

controls.ae.gatech.edu/projects/sec
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Presentation Outline

• The SEC University Experiments as a Grand
  Challenge for the DARPA Information Exploitation
  Office
• Mid Term Experiment Vision and Plan
• Final Experiment Vision and Plan
• SEC University Experiments Plan,Version 1.0
• Planned Steps to Version 2.0
• More detail on HITL and Flight Testing Support-
  Eric Johnson
• More detail on OCP and Hybrid Controls Support-
  Linda Wills

3
Completely Autonomous Ground Vehicle Race in
2004 1M Prize
4
SEC University Experiments Plan as a Grand
Challenge for IXO

• At DARPA Tech an Autonomous Ground Vehicle Race
  from Los Angeles to Las Vegas was introduced for
  2004 with a Cash Prize of 1,000,000
• The purpose of the race is to encourage the
  accelerated development of autonomous vehicle
  technologies that could be applied to military
  requirements
• The DARPA Information Exploitation Office (IXO)
  has been set up to use Information Integration to
  take Ubiquitous Sensing from Sensors to provide
  Comprehensive Situational Awareness through
  Exploitation to result in Dynamic Battle
  Management through Command and Control. This will
  provide taking control by integrating the
  functions of Sensing, Exploiting, Planning, and
  Executing
• The SEC University Experiments Plan using the
  International Aerial Robotics Scenario for a Time
  Critical Mission would make for an excellent
  Grand Challenge for IXO

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SEC University Experiments Plan A Grand
Challenge for DARPA Information Exploitation
Office (IXO)
GT-HW-MIT VVA and High Confidence Systems
GT-VU-SSC Mode Transitioning Fault Tolerant
Control
GT-OGI-Draper-SSC-UMN Trajectory Generation
Extreme Maneuvers

Time Critical lt15min
Target Engagement Kill
Identify Structure Portals
Boeing-GT-VU-UCB-HW OCP Enhancements Hybrid
Controls API
6
SEC Integration Milestones
DARPA
System Integration /
SEC
Experimentation
SEC
Requirements
OCP
Milestones
Flight
HILS
SILS
Technology
OCP
Development
Test
OCP simulation
Active State
a
3Q
4Q
3Q
demonstration
ü
ü
ü
ü
a
Models
FY00
FY99
FY99
BenchMark

B
3Q
2Q
1Q
Flight
-
Test Single
Online Control
1
ü
ü
ü
ü
VTOL UAV
FY02
FY01
FY01
Customization
Mid
-
Term
3Q
2Q
4Q
B
Coordinated
VTOL coordinated pair
FY03
FY03
FY02
2
ü
Multi
-
Modal
flight, coupled dynamics
Control
Final Exams
3Q
2Q
4Q
B
University

Coor Contrl
FY04
FY04
FY03
3
of RW Aerial
Robots
Industry
Manned and
Unm FW
Coor
Control
7
Integration Milestones
DARPA
System Integration /
SEC
Experimentation
SEC
Requirements
OCP
Milestones
Flight
HILS
SILS
Technology
OCP
Development
Test
OCP simulation
Active State
a
3Q
4Q
3Q
demonstration
ü
ü
ü
ü
a
Models
FY00
FY99
FY99
BenchMark

B
3Q
2Q
1Q
Flight
-
Test Single
Online Control
1
ü
ü
ü
ü
VTOL UAV
FY02
FY01
FY01
Customization
Mid
-
Term
3Q
2Q
4Q
B
Coordinated
VTOL coordinated pair
FY03
FY03
FY02
2
ü
Multi
-
Modal
flight, coupled dynamics
Control
Final Exams
3Q
2Q
4Q
B
University

Coor Contrl
FY04
FY04
FY03
3
of Air and
Grnd
Robots
Industry
Manned and
Unmanned
Coor
Control
8
SEC Integration Milestones
DARPA
System Integration /
SEC
Experimentation
SEC
Requirements
OCP
Milestones
Flight
HILS
SILS
Technology
OCP
Development
Test
OCP simulation
Active State
a
3Q
4Q
3Q
demonstration
ü
ü
ü
ü
a
Models
FY00
FY99
FY99
BenchMark

B
3Q
2Q
1Q
Flight
-
Test Single
Online Control
1
ü
ü
ü
ü
VTOL UAV
FY02
FY01
FY01
Customization
Mid
-
Term
3Q
2Q
4Q
B
Coordinated
VTOL coordinated pair
FY03
FY03
FY02
2
ü
Multi
-
Modal
flight, coupled dynamics
Control
Final Exams
3Q
2Q
4Q
B
University

Coor Contrl
FY04
FY04
FY03
3
of Air and
Grnd
Robots
Industry
Manned and
Unmanned
Coor
Control
9
Overall SEC University Milestone Planning Schedule
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University Mid-Term Experiment(Would like to
conduct Mid-Term and Final Experiments at the
Armys MOUT Village north of Fort Benning, GA)

• University Led Experiments
• (Georgia Tech Participants)

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University Mid-Term Experiment

• Multiple Platforms
• GTMax VTOL UAV as Mothership
• International Aerial Robotics Competition
  Scenario
• Launch of OAV VTOL UAV or FW Glider
• Coordinated Aerial-Ground Vehicle Scenario
• OCP (multi-vehicle version)
• Application Domains
• Urban, Homeland Defense
• International Aerial Robotics Competition
  Scenario
• Aggressive Maneuvering
• IXO Grand Challenge

options under consideration
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Aerial Robotics Competition Levels

• Level I Autonomous 3km flight around four
  waypoints Georgia Tech Aerial Robotics (GTAR)
  Team won first place in Summer 2001
• Level II In addition to achieving Level I Sense
  and Identify Buildings and Portals in Buildings
  GTAR Team won first place in Summer 2002
• Level III In addition to Levels I and II Insert
  into One of the Buildings through a Portal a
  Robotic Sensing Device that can search within the
  building GTAR Team target for Summer 2003,
  after successfully completing University Mid Term
  Experiment
• Level IV Accomplish Levels I-III in less than 15
  minutes to illustrate a time critical mission
  GTAR Team target for Summer 2004, after
  successfully completing University Final
  Experiment

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Potential Aerial Robotics Scenario
Implementations for SEC Program
Optically Guided Glider Launched Flown into
Window Opening
Sensor to Shooter Target detection
identification
OAV,FW Glider or Ground Robot
Mother Ship
Simulated Structure with Opening
Coordinated Control
Small iROBOT Ground Robots for Insertion in
Door Opening Once sensor in flown through window
Options
Closed or Open Window
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DARPA IXO Grand Challenge for Urban Operations
GTMax Mothership w/OAV Insertion
This is a CLOSED window!!
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Aerial-Ground Vehicle Scenario to Address IXO
Desire to Better Integrate Air and Ground Robotics

• Ground Platform Requirements
• Move on Desired Terrain (Medium Grass, Small
  Slopes)
• Accommodate Sensing, Communication, Control
  Subsystems On Line Customization through Mature
  Version of OCP
• Various Payloads
• COTS Devices Preferred

Coordinated Control
Larger iROBOT Ground Robot for Mine Detection,
Weapons Firing or Logistics Support
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University Final Exam

• University-Led Experiments
• (Georgia Tech Participants)

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Approach

• SEC University Final Exam Follows From Mid Term
• Platforms
• Components
• Develop GTMax VTOL UAV, Ground Control Station,
  and Simulation Infrastructure
• Add additional Platforms (Heterogeneous)
• Fixed Wing Aircraft
• Ground Vehicles
• Developed as an Open Experimental System
• Other Researchers Utilize Simulation Tools to
  Develop OCP Components and Test on Desktop
  Machines
• University Final Experiment supports Industry
  Final Experiment

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University and Industry Collaborators

• Several Ways to Collaborate on Mid-Term and Final
  Exam
• Utilize Simulation Tools, Scenarios
• Utilize Baseline Algorithms, OCP
• Develop Capabilities that are Additional Flight
  Test Elements
• Add OCP Components that are Integrated with Core
  Final Exam Flight Tests
• Software-In-The-Loop (SITL) Simulation and OCP
  provided at June 2002 Workshop
• SEC University Experiments Plan, Version 1.0
  issued in September 2002

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University Experiments Final Experiments WG

• Approach
• Use SEC University Experiments Plan, Version 1.0,
  as a Strawman
• Discussions
• Mapping to experiment scenario
• Complementing development efforts
• The so what? question
• What can we do with SEC technologies that is not
  feasible with current state-of-the-art?
• Requirements definition (hardware/software)
• Interface definitions
• Schedule refining

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SEC University Experiments Plan, Version 1.0

• Initially Issued in September 2002
• Includes Four Additional Universities (MIT, OGI,
  UMN, VU) and Five Industries/Labs (Boeing,
  Draper, Honeywell, ScSysCo, and Impact
  Technologies)
• Team broken down into four teams related to
  Functional Areas of Interest
• Trajectory Generation and Extreme Maneuvers
• Mode Transitioning and Fault Tolerance Control
• Verification, Validation, Accredition and High
  Confidence Systems
• OCP Enhancements and Hybrid Controls

22
SEC University Experiments Plan A Grand
Challenge for DARPA Information Exploitation
Office (IXO)
GT-HW-MIT VVA and High Confidence Systems
GT-VU-SSC Mode Transitioning Fault Tolerant
Control
GT-OGI-Draper-SSC-UMN Trajectory Generation
Extreme Maneuvers

Time Critical lt15min
Target Engagement Kill
Identify Structure Portals
Boeing-GT-VU-UCB-HW OCP Enhancements Hybrid
Controls API
23
SEC University Experiments Plan Version 1.0
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SEC University Experiments Plan Updates

• Plan to use tomorrows afternoon Working Group to
  develop Version 2.0 to include an Updated
  Schedule
• Plan to identify first participants for HITL and
  Flight Testing as soon as possible
• Plan to include as many participants as possible
  in SEC Mid Term and Final Experiments
• We feel a major element of our success over the
  remainder of the SEC Program is to accommodate
  your participation

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Transition of SEC Technologies to Army Objective
Force UAV Testbed

• Army Aviation Applied Technology Directorate
  (AATD) is developing a larger Rotary Wing Testbed
  called the Agile Eagle to support Technology and
  Capability Development for the Armys Objective
  Force
• The DARPA IXO has initiated an effort to add the
  Kill function to C4ISR to complete Information
  Exploitation Chain of Events and provide C4KISR
• There appears an opportunity for a natural
  transition of the SEC Technologies being
  demonstrated on the GTMAX to the Armys Agile
  Eagle Testbed
• It appears that the Agile Eagle Testbed would be
  an excellent testbed for demonstrating the DARPA
  IXO C4KISR integration scheme from sensor to
  shooter to execution