Lecture1 Overview

GaTech CS8803-AUS Spring 2015 1

Autonomous Unmanned Systems

Instructors: Dr. Charles Pippin, Dr. Stephen Balakirsky, Dr. Zsolt Kira, Dr. Mick West

Spring 2015 CS 8803-AUS, TR 9:35-10:55

This course covers important topics of autonomous unmanned systems, including enabling technologies, and algorithmic approaches for autonomous air, ground and maritime vehicles.

Introduction and Course Overview


q Introductions q Objectives q Course Overview and Syllabus q Autonomy Discussion q Instructor Research Brief

Agenda

GaTech CS8803-AUS Spring 2015

Logis&cs

•  Course Instructor Email: cs8803-‐aus-‐[email protected]

•  Put cs8803-‐aus in the subject line •  This will go to all instructors. •  We may be on travel, so use this email and not our direct email.

•  Office hours: By Appointment or aJer class. 3


Instructor

Dr. Charles Pippin

Topics: UAV algorithms and path planning, cooperative

systems


Instructor

Dr. Stephen Balakirsky

Topics: Unmanned Systems Architectures, Unmanned

Ground Vehicles, Interoperability


Instructor

Dr. Zsolt Kira

Topics: Perception and Data Fusion


Instructor

Dr. Mick West

Topics: Maritime Systems


What are Your Objectives for this course?

Think-Pair-Share q Undergraduate or Graduate (Masters or PhD)? q Major q Research Area/Interests q What do you hope to learn or achieve in this

course?


q Understand the key research areas in unmanned systems and some of the open research questions.

q Understand the common architectures used on unmanned systems.

q Understand key algorithms for path planning on various UxV architectures

q Be able to characterize techniques for data fusion in unmanned systems perception.

q Develop skills in related tools such as ROS and autopilot systems.

q Contribute in group projects and perform analysis. Generate publishable material.

q Learn to analyze and evaluate key research papers in unmanned systems.

Course Objectives


By the end of this course, students will be able to: q Understand the research areas that are relevant to

unmanned systems. q Design high-level software architectures for an

autonomous unmanned vehicle platform. q Compare and contrast the differences in decentralized

and centralized approaches on collaborative autonomous teams.

q Describe the unique challenges for sensing and navigating in ground, underwater and aerial environments.

q Be able to write an abstract for unmanned systems research papers and group them into related work areas.

Learning Outcomes


Grading and Syllabus


Grading

Evaluation Percentage Abstracts 20

Midterm exam 30

Class project 40 Class participation, student presentation, and quizzes 10

Total 100


Abstracts

q Abstracts will be due at the start of class q 1 for each assigned reading. q Count in total 20% of your grade q 1-2 pages each. q Will be posted at least a week before they are due. q You will be graded on having each section:

q Abstract/Summary – 150 words minimum q What is the significance of this paper, what is the

novel contribution? - 200 words minimum q Explain the technical approach in the paper. q What are 2 references from the paper (or that cite

the paper) that would be interesting for follow up, and why?


Student Presentations q Each student will be required to give 1 topical

presentation q Research one of the relevant topics and present to the

class. q Uploaded to T-square before class. q 10 minutes long, with 3 minutes for questions. q You will be graded on:

q Content (60%): Clear review of the topic: introduction, relevance, technical overview, references.

q Presentation Quality (40%): Slides are clear, graphics are labeled, talk finishes on time, presenter speaks audibly and can handle questions.


Class Project

Project Evaluation Percentage Proposal 10 Related work 10 Implementation 30 Final presentation 20 Final report 30 Total 100

q Students will work in groups of 2-3 on a course project that is relevant to autonomous unmanned systems.

q There will be a significant programming component. q More details to come.


Autonomy Discussion


State of Autonomy

Auto

nom

y

Deployment and Saturation

collaborative research robotsurban challenge vehicles

UAVsSUGVs

factory robots

Heterogeneousmulti-robot,dynamic teams


PREDATOR: General Atomics COURTESY OF U.S. AIR FORCE PHOTO/LT COL LESLIE PRATT, VIA WIKIMEDIA COMMONS, Scientific American

REAPER: General Atomics COURTESY OF U.S. AIR FORCE PHOTO BY PAUL RIDGEWAY, Scientific American

GLOBAHAWK: Northrup Grumman COURTESY OF U.S. AIR FORCE PHOT/MASTER SGT. JASON TUDOR, Scientific American

SENTINEL: Lockheed Martin COURTESY OF TRUTHDOWSER, VIA WIKIMEDIA COMMONS, Scientific American

HUNTER: Northrup Grumman COURTESY OF NORTHROP GRUMMAN, Scientific American

SHADOW: AAI Corp. COURTESY OF THE U.S. MARINES, VIA WIKIMEDIA COMMONS, Scientific American

Sikorsky’s: S-97 COURTESY Wikipedia

RAVEN RQ-11: AeroVironment COURTESY OF WIKIMEDIA COMMONS

Variety of UAS

Disclaimer: During this course we will be discussing technologies which may have origins in military use. We are not advocating or presenting issues of policy, morality and law related to these system. Rather, we are interested in the scientific and technological impact of these technologies.


Variety of Drones/RC

3drobotics IRIS

Parrot MiniDrone

Sig Rascal

DJI Phantom


Convergence Factors

•  Faster, Cheaper Hardware •  RC and hobby community •  Open Source kits: DiyDrones, Dronecode •  Open Source Robo&cs: ROS •  3d Prin&ng and low cost produc&on. •  Research Interest and interplay with the Robo&cs Community

•  FAA Rules 20


Unmanned versus Autonomous

An Unmanned System is a system which does not have a crew located in the vehicle controlling the vehicle.

Slide Credit: Alan Wagner



Autonomous means that the system or vehicle is in control of itself.



Unmanned but not Autonomous




Autonomous but not Unmanned


Slide adapted from Alan Wagner

Autonomous, Unmanned

DARPA Crusher, cmu.edu


On Autonomous Aircraft

“When the aircraft is under remote control, it is not autonomous. And when it is autonomous, it is not under remote control. While these two conditions could exist (controlled and uncontrolled), current DoD UAS are remotely operated and capitalize on automation in extreme circumstances, such as a lost link condition, to automatically perform a preprogrammed set of instructions.”

U.S Department of Defense Unmanned Systems Integrated Roadmap FY2013-2038, pg. 15.


UAS versus Drone

UAS Elements

Flying

Communica&on

Mission Planning

Autonomy

Ground Sta&on

Mission Payload

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UAV •  Has sophisticated

autonomy, range or payload.

UAS •  The full system which

includes the UAV, network and personnel.

Drone •  Typically a RC or RPV •  Limited range,

communications, and payload.

•  Little or no Autonomy


The term autonomous describes the types of control, and ability of the system to make decisions. The term unmanned relates to the vehicle configuration Acronyms: •  UAV: Unmanned Aerial Vehicle •  UAS: Unmanned Aircraft System – Note that this can also refer to Unmanned and

Autonomous Systems •  UMV: Unmanned Maritime Vehicle •  USV: Unmanned Surface Vehicle •  UUV: Unmanned Undersea/Underwater Vehicle •  UGV: Unmanned Ground Vehicle •  UGS: Unmanned Ground System •  USpS: Unmanned Space Systems •  UxV: Unmanned Vehicle. - This can represents the general class of unmanned

vehicles, including but not limited to ground, sea, and air vehicles. •  RPV: Remotely Piloted Vehicle, aka, drone. •  RC: Remote Control


Slide Adapted from : Alan Wagner


Automation

•  Automation: the use of machinery to perform a specific task •  Most often in relation to an assembly line



Semi-Autonomous Systems

•  Broad term used to describe a system which automates some tasks but not others

•  Examples: •  Autopilots •  Self parking cars •  Cruise control



Intelligent

•  Used to describe machines that: •  Deliberate •  Optimize •  Learn •  Adapt •  Plan •  Perform better than most

current systems

•  Gets thrown around a lot



Robot

A robot is a machine that extracts information from its environment and uses knowledge about the world to act in a meaningful and purposeful manner. (derived from Arkin 1998)



System of Systems

System of Systems: “a set or arrangement of systems that results when independent and useful systems are integrated in a larger system that delivers unique capabilities.” (ODUSD(A&T), 2008) NATO Example:



Autonomous Unmanned Systems

•  We consider the classifica&on of Unmanned Systems to include those that historically were manned but can now be unmanned.

•  These systems have tradi&onally been developed in the defense domain, but now also have many civilian applica&ons.

•  There is significant overlap with autonomous robo&cs. In this course we will try to minimize the overlap and focus on topics specific to this classifica&on.

•  We are interested in the subclass of Autonomous Unmanned Systems, and the technologies that enable them to become autonomous.

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Instructor Research Areas

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