96632b1536810c58013f33b9406cecb3.ppt
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The Ad Hoc UAV Ground Network (AUGNet) Timothy X Brown Interdisciplinary Telecommunications Electrical and Computer Engineering University of Colorado Presented at the RECUV Workshop CU-Boulder July 29, 2004 7/29/2004 T. X Brown (http: //ece. colorado. edu/~timxb) CU-Boulder
Unmanned Aerial Vehicles (UAVs) Now l l l Small (10 kg) Low-Cost ($10 k) UAVs Swarming, flocking, cooperative missions Military, scientific, commercial applications 7/29/2004 T. X Brown (http: //ece. colorado. edu/~timxb) 2
Ad Hoc Networks A C B Robust Connectivity 7/29/2004 T. X Brown (http: //ece. colorado. edu/~timxb) 3
Ad hoc UAV-Ground Networks Scenario 1: increase ground node connectivity. NOC Scenario 2: increase UAV mission range. 7/29/2004 T. X Brown (http: //ece. colorado. edu/~timxb) 4
We are building AUGNet l l l Small Low-Cost UAV COTS Radio Components Full-Scale Test Bed. l l l 7/29/2004 Fixed nodes Mobile ground nodes (vehicle/personnel carried) Aerial vehicle mounted nodes T. X Brown (http: //ece. colorado. edu/~timxb) 5
Why Hardware Testing? l Simulation misses the interaction between: l l l Distributed Protocols Operating System Hardware Environment We think there is a lot to learn in building The end result will have value in itself 7/29/2004 T. X Brown (http: //ece. colorado. edu/~timxb) 6
AUGNet Hardware Strategy l Common hardware and software platform l l l Commercial Off The Shelf communication hardware Open source network software Custom UAVs l 7/29/2004 Flexible and stable design T. X Brown (http: //ece. colorado. edu/~timxb) 7
Communication Hardware Environmental Enclosure UAV Mounting 16 cm 21 cm 7/29/2004 Common Hardware 802. 11 b PCMCIA card Soekris single board computer 0. 1 -1 W Amplifier GPS (for monitoring) 256 MB CF “personality” T. X Brown (http: //ece. colorado. edu/~timxb) 8
Communication Software • Linux operating system • Click packet processing • Dynamic source routing • Self starting, automated • No long-term state • RAM file system • ROM personality • Robust 7/29/2004 T. X Brown (http: //ece. colorado. edu/~timxb) 9
Test Bed Table Mountain National Radio Quiet Zone 15 km North of the University of Colorado 7/29/2004 T. X Brown (http: //ece. colorado. edu/~timxb) 11
1000’ 300 m Table Mountain 1000’ 300 m Landing Strip FS 2 Fixed Sites 4 km Public Road Circuit at Mesa Base Gateway to Hi-speed Internet FS 1 3 km 7/29/2004 T. X Brown (http: //ece. colorado. edu/~timxb) 12
Monitoring Model Table Mountain Ad Hoc Radio Network NOC Univ. of Colorado Ground Vehicle Nodes Monitor Server Fixed Site 1 Handheld Nodes Normal Data Fixed Site 2 Internet Web Access Remote Monitor 7/29/2004 Aerial Vehicle Nodes Monitor Backhaul T. X Brown (http: //ece. colorado. edu/~timxb) Fiber Optic Ring 13
Remote Monitoring 7/29/2004 T. X Brown (http: //ece. colorado. edu/~timxb) 14
Results Delay/Throughput l l Delay ~10 ms/hop Ad hoc throughput > 100 kbps up to 5 hops 7/29/2004 T. X Brown (http: //ece. colorado. edu/~timxb) 15
Applications l l l Sensor arrays (reliable data collection) Differential meas. (auto-networking) Long baseline meas. (cooperative UAV’s) High risk operation (low cost equipment) Remote areas (Instant communication) 7/29/2004 T. X Brown (http: //ece. colorado. edu/~timxb) 16
Conclusion l l l We are building a heterogeneous ad hoc network Monitoring to understand complex ad hoc networks is needed Many applications. Project website: augnet. colorado. edu 7/29/2004 T. X Brown (http: //ece. colorado. edu/~timxb) 17