Jobski Uav Ir

Unmanned Aerial Vehicles
Jessica Jobski
Universität Hamburg
Fakultät für Mathematik, Informatik und Naturwissenschaften
Department Informatik
Integriertes Seminar Intelligent Robotics ’10
10. Juni 2010
1
Definition
General information
Usage
Overview of UAVs
Challenges
Outline
1 Definition
2 General information
Typical goals
3 Usage
Military use
Civil use
4 Overview of UAVs
5 Challenges
Challenges similar to land-based robots
Challenges specific to aerial vehicles
Categories for important technology in the future
2
J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles
Definition
General information
Usage
Overview of UAVs
Challenges
Definition
• An unmanned aerial vehicle

(UAV) is an aircraft that
flies without a human
crew on board the aircraft.
• UAVs can be distinguished in
remotely piloted aircrafts
(drones) and autonomous
flying aircrafts.
Bwe will focus on the latter
3
Definition
General information
Usage
Overview of UAVs
Challenges
Recalling: Size of UAVs
4
Definition
General information
Usage Typical goals
Overview of UAVs
Challenges
Typical goals
• Automatically start operation and takeoff.

• Fly to a designated area (on a prescribed path) while
avoiding obstacles.
• Search and locate object of interest in the designated area.
• Visually lock on to and track or, if necessary, pursue the
objects.
• Send back images to a ground station while tracking the
objects.
• Safely return and land.
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Definition
General information
Military use
Usage
Civil use
Overview of UAVs
Challenges
Military use
• armed attacks
• reconnaissance and
surveillance
• transportation
Abbildung: 2010: Phantom Raystealth, first(?) unmanned fighter drone
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Definition
General information
Military use
Usage
Civil use
Overview of UAVs
Challenges
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
7
Definition
General information
Usage
Overview of UAVs
Challenges
Overview of UAVs
• Rotary-wing
• Fixed-wing
• Blimps
• Other
8
Definition
General information
Usage
Overview of UAVs
Challenges
Rotary-wing
• Vision-based stability
• Carnegie Mellon
and control
University:
• Autonomous takeoff,
Autonomous
trajectory following
Helicopter Project
and landing
• research since 1991
• Aerial mapping
• laserscanner,
• Object recognition
gpsreceiver
and manipulation [V] 9
Definition
General information
Usage
Overview of UAVs
Challenges
Fixed-wing
• Brigham Young University MAGICC Lab

• research on multi-agent technologies [V]
10
Definition
General information
Usage
Overview of UAVs
Challenges
Blimps
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Definition
General information
Usage
Overview of UAVs
Challenges
Other: Entomopter
• generates autonomic wing beating from a chemical source [V] 12

Definition
General information
Usage
Overview of UAVs
Challenges
Other: Micromechanical Flying Insect
The goal of the

micromechanical 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 capture
some of the exceptional flight performance achieved by true flies.
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Definition
General information Challenges similar to land-based robots
Usage Challenges specific to aerial vehicles
Overview of UAVs Categories for important technology in the future
Challenges
Challenges similar to land-based robots
• Localization
• Path-Planning
• Collision-avoidance
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Definition
Challenges
Challenges specific to aerial vehicles
• Height above ground level

• Orientation of aircraft
15
Definition
Challenges
Categories for important technology in the future I
• Sensor fusion: Combining information from different sensors

for use on board the vehicle
• Communications: Handling communication and coordination
between multiple agents in the presence of incomplete and
imperfect information
• Motion planning (also called Path planning): Determining an
optimal path for vehicle to go while meeting certain objectives
and constraints, such as obstacles
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Definition
Challenges
Categories for important technology in the future II
• Trajectory Generation: Determining an optimal control

maneuver to take to follow a given path or to go from one
location to another
• Task Allocation and Scheduling: Determining the optimal
distribution of tasks amongst a group of agents, with time
and equipment constraints
• Cooperative Tactics: Formulating an optimal sequence and
spatial distribution of activities between agents in order to
maximize chance of success in any given mission scenario
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Definition
General information
Usage
Overview of UAVs
Challenges
The future?
Robots on Mars?
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Definition
General information
Usage
Overview of UAVs
Challenges
Thank you for your attention!
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Unmanned Aerial Vehicles

10. Juni 2010

• An unmanned aerial vehicle

Bwe will focus on the latter

Recalling: Size of UAVs

• Automatically start operation and takeoff.

Abbildung: 2010: Phantom Raystealth, first(?) unmanned fighter drone

• remote sensing (biological, chemical, electromagnetic)

• Brigham Young University MAGICC Lab

• generates autonomic wing beating from a chemical source [V] 12

Other: Micromechanical Flying Insect

The goal of the

Challenges similar to land-based robots

Challenges specific to aerial vehicles

• Height above ground level

Categories for important technology in the future I

• Sensor fusion: Combining information from different sensors

Categories for important technology in the future II

• Trajectory Generation: Determining an optimal control

Thank you for your attention!

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