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The Ad Hoc UAV Ground Network (AUGNet) Timothy X Brown Interdisciplinary Telecommunications Electrical and 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) 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. 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 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 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 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 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. 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 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 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 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 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 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 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 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 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