COST Action IC 0906 Meeting3rd International Workshop onWireless Networking and Control forUnmanned Autonomous VehiclesUAV...
Torsten Braun: UAVNet      Overview      >      Motivation and Applications      >      UAVNet Design and Implementation  ...
Torsten Braun: UAVNet      Motivation      > Deployment of Wireless Mesh Networks (WMNs) can be time        consuming or e...
Torsten Braun: UAVNet      Possible Applications      >      Communication infrastructure in disaster scenarios      >    ...
Torsten Braun: UAVNet      Hardware Platform      >      Quadrocopter             (mikrokopter.de)             —      Fram...
Torsten Braun: UAVNet      UAVNet Scenario      1. Serial link between wireless mesh         nodes and to navigation contr...
Torsten Braun: UAVNet      Software Architecture      >      uavcontroller             — on mesh node handles any internal...
Torsten Braun: UAVNet      Relay Scenarios with Single/Multiple UAVs      1.   1st UAV explores position of 2nd end       ...
Torsten Braun: UAVNet      Options      >      Searching modes             — Manual: 1st end system tells GPS position of ...
Torsten Braun: UAVNet      Evaluation: TCP in Single-Hop Scenario      Dublin, November 20, 2012 / Anaheim, December 7, 20...
Torsten Braun: UAVNet      Evaluation: TCP in Multi-Hop Scenario      Dublin, November 20, 2012 / Anaheim, December 7, 201...
Torsten Braun: UAVNet      UAVNet Demo      Dublin, November 20, 2012 / Anaheim, December 7, 2012   12
Torsten Braun: UAVNet      Conclusions      >      UAVNet can be configured, deployed, and monitored by a             sing...
Torsten Braun: UAVNet      Thank You for Your Attention !      >      braun@iam.unibe.ch      >      http://cds.unibe.ch  ...
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Ic0906 wi-uav UAVNet

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UAVNet: A Mobile Wireless Mesh Network Using Unmanned Aerial Vehicles

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Ic0906 wi-uav UAVNet

  1. 1. COST Action IC 0906 Meeting3rd International Workshop onWireless Networking and Control forUnmanned Autonomous VehiclesUAVNet: A Mobile Wireless Mesh NetworkUsing Unmanned Aerial VehiclesSimon Morgenthaler, Torsten Braun, Zhongliang Zhao,Thomas Staub, Markus AnwanderUniversität Bern, Switzerlandbraun@iam.unibe.ch, cds.unibe.ch
  2. 2. Torsten Braun: UAVNet Overview > Motivation and Applications > UAVNet Design and Implementation — Hardware Platform — UAVNet Scenario — Software Architecture — Relay Scenarios with Single/Multiple UAVs — Options > UAVNet Evaluation — TCP in Single-Hop Scenario — TCP in Multi-Hop Scenario > UAVNet Demo > Conclusions Dublin, November 20, 2012 / Anaheim, December 7, 2012 2
  3. 3. Torsten Braun: UAVNet Motivation > Deployment of Wireless Mesh Networks (WMNs) can be time consuming or even impossible in harsh environments. → Design, implementation, and evaluation of a prototype of autonomous networked UAVs (UAVNet) > Each quadrocopter-based UAV carries a wireless mesh node, which is directly connected to the UAV’s flight electronics building an IEEE 802.11s WMN. > Each wireless mesh node acts as access point and provides network access for IEEE 802.11g devices. Dublin, November 20, 2012 / Anaheim, December 7, 2012 3
  4. 4. Torsten Braun: UAVNet Possible Applications > Communication infrastructure in disaster scenarios > Emergency situations, e.g., avalanches > Sensor networks in inaccessible areas Dublin, November 20, 2012 / Anaheim, December 7, 2012 4
  5. 5. Torsten Braun: UAVNet Hardware Platform > Quadrocopter (mikrokopter.de) — Frame — 4 brushless motors — Battery — Flight electronics – Flight controller controlling motors – Navigation controller with GPS and 3D compass > Wireless mesh node — Professional Mesh OM1P from Open-Mesh — ADAM embedded Linux with IEEE 802.11s Dublin, November 20, 2012 / Anaheim, December 7, 2012 5
  6. 6. Torsten Braun: UAVNet UAVNet Scenario 1. Serial link between wireless mesh nodes and to navigation controller (debug port) 2. Wireless mesh nodes as mesh access points for end systems using IEEE 802.11g 3. Configuration devices to configure and monitor UAVNet using IEEE 802.11g 4. Data traffic between the end systems relayed via IEEE 802.11s Dublin, November 20, 2012 / Anaheim, December 7, 2012 6
  7. 7. Torsten Braun: UAVNet Software Architecture > uavcontroller — on mesh node handles any internal / external communication > uavclient — on configuration devices and end systems > Libraries — libuavext – TCP/UDP data transfer – Error control and data encoding – Host name and address configuration/translation, DHCP server for clients — libuavint – Serial connection management – Message and command exchange between mesh node and navigation controller Dublin, November 20, 2012 / Anaheim, December 7, 2012 7
  8. 8. Torsten Braun: UAVNet Relay Scenarios with Single/Multiple UAVs 1. 1st UAV explores position of 2nd end system (outgoing from 1st end system) and broadcasts its position when found. 2. Positioning of 1st UAV at centre between end systems 3. Movement of 1st UAV towards 1st end system until predefined RSSI is reached 4. Next UAV moves to 1st UAV and then towards 2nd end system until reaching predefined RSSI to previously positioned UAV 5. Repeat step 4 until all UAVs positioned UAVs periodically broadcast ping messages with network and UAV information. Dublin, November 20, 2012 / Anaheim, December 7, 2012 8
  9. 9. Torsten Braun: UAVNet Options > Searching modes — Manual: 1st end system tells GPS position of 2nd end system to UAV. — Autonomous: UAV calculates and visits multiple way points on a spiral until signal from 2nd end system has been detected. > Positioning modes — Geographical — Signal strength (RSSI) Dublin, November 20, 2012 / Anaheim, December 7, 2012 9
  10. 10. Torsten Braun: UAVNet Evaluation: TCP in Single-Hop Scenario Dublin, November 20, 2012 / Anaheim, December 7, 2012 10
  11. 11. Torsten Braun: UAVNet Evaluation: TCP in Multi-Hop Scenario Dublin, November 20, 2012 / Anaheim, December 7, 2012 11
  12. 12. Torsten Braun: UAVNet UAVNet Demo Dublin, November 20, 2012 / Anaheim, December 7, 2012 12
  13. 13. Torsten Braun: UAVNet Conclusions > UAVNet can be configured, deployed, and monitored by a single user, using an iPad/iPhone control application. > Implementation of UAVNet without modification of original flight electronics firmware → compatibility and expandability. > Performance advantages compared to ground-based network Dublin, November 20, 2012 / Anaheim, December 7, 2012 13
  14. 14. Torsten Braun: UAVNet Thank You for Your Attention ! > braun@iam.unibe.ch > http://cds.unibe.ch > http://www.slideshare.net/torstenbraun Dublin, November 20, 2012 / Anaheim, December 7, 2012 14

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