Transcript Willkommen zur PG FLYNET!

PG FLYNET III
Winter term 2011/12 and Summer term 2012
Hannes Frey
[email protected]
Computer Networks Group
Universität Paderborn
Problem: Exploration of hazardous area
 Required: Spatial distribution of a measurable quantity
 Employ flying drones – but how to navigate?
Hannes Frey
PG FLYNET III
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Problem: Exploration of hazardous area
 Required: Spatial distribution of a measurable quantity
 Employ flying drones – but how to navigate?
Wireless connectivity:
Maximize spatial
coverage
Hannes Frey
1. Control data
2. Sensor data
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Improve coverage by cooperation
Improved spatial coverage
Cooperation
DATA(A)
B*
A*
...because errors
occur
independently
B
DATA(A)
Joint
transmission
helps...
A
Larger distance )
more error-prone
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Autonomous sensor deployment
 Network of small embedded devices
 As additional sensor network
 As wireless relays
 Autonomous deployment of sensor nodes
 Dropping mechanism and appropriate sensor casing (cooperation with DMRC)
 Lightweight sensor electronics (with Dr. Porrmann, FG Schaltungstechnik)
 Optimizing network topology on the fly
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Status: Our drones are extended MikroKopters
Tripod for
camera
GPS Module
NaviCtrl/FlightCtrl
Compass
USB WLAN
RS232 Interface
Embedded Linux Board (Beagle; so far)
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Status: deployment code in hardware and simulation
Avionic team
Wireless team
Assemble, extend and test drones
FlyCP: Protocol daemon
Flight control API plus simulation
Node control and deployment
maximize
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Problems faced by the forthcoming project group
 Realizing an algorithm for robot team formation
 Maximize coverage while keeping network quality
 Consider cooperative diversity in team formation structure
 Realizing an algorithm for deploying sensor nodes
 Keep deployment decisions of neighboring quadrocopters into
account
 Use channel measurements among sensors nodes to aid in
computing optimized positions for dropping a sensor node
 Use cooperative diversity to improve wireless network among
sensor nodes
 Consider cooperative diversity in deployment structure
 Autonomous starting and landing
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