PENN UAV

PENN UAV PROJECT

The project is part of the aerial effort at the GRASP Laboratory, UPENN. The main motivation for the project is to develop cooperative behavior for between unmanned aerial vehicles and or ground vehicles at the GRASP Lab. Another motivation is to develop control algorithms methodologies to allow the aircraft to form a part of a heterogeneous robot team including ground and other aerial vehicles and perform mission tasks at higher levels.

Goals

Outer Loop

Mission Level

	Cooperative Distributed Aerial Sensor Network
	Air Ground Integration UAV – UGV Coordination Track 3D Topographic Map Building Reconnaissance

High Level Control

	Conflict Resolution
	Collision & Crash Avoidance
	Surveillance
	Air Traffic Management

Inner Loop

	Formation Control (e.g Aerial Refueling in UAVs)
	Optimal Trajectory Generation & Planning
	Aggressive Maneuvering Schemes (e.g Dog fighting)
	Embedded code Generation

Research is supported by the grants:
NSF-EIA-0324977
and
ARO/MURI DAAD19-02-1-0383.

Key Milestones

	Nov 2003 ICRA Video Submission - Experimenting with Multiple UAVs
	Nov 2003 MSFS visualization of autonomous formation flight at Fort Benning
	August 14th 2003 - UAVs flown in formation autonomously @ Army Base in Fort Benning
	August 12th 2003 - UAVs flown autonomously over MOUT site @ Army Base in Fort Benning collecting ground images & data (GPS ,IMU)
	August 8th 2003 - Additional Sensors: Camera, 10Hz GPS IMU & Onboard PC installed for higher level control integration
	July 17th 2003 - Both UAV's tested and flown autonomously
	June 1th 2003 - 2nd UAV completed
	May 19th 2003 - 1st autonomous flight testing
	March 13th 2003 - 1st UAV completed

**NOTE to Enthusiastic Graduate & Undergraduate students : Independent Study , Senior Design & Summer Projects avaliable . Please contact Jim Keller for details. Download current project topics and research directions

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Maintained by Selcuk Bayraktar.
For problems or questions contact [selcuk@grasp.cis.upenn.edu].
Last updated: 12/03/03.