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STARMAC The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control. Gabe Hoffmann, Haomiao Huang, Vijay Pradeep, Steven Waslander Aeronautics and Astronautics, Stanford University Claire Tomlin Aeronautics and Astronautics, Stanford University

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Starmac the stanford testbed of autonomous rotorcraft for multi agent control

STARMACThe Stanford Testbed of Autonomous Rotorcraft forMulti-Agent Control

Gabe Hoffmann, Haomiao Huang, Vijay Pradeep, Steven Waslander

Aeronautics and Astronautics, Stanford University

Claire Tomlin

Aeronautics and Astronautics, Stanford University

Electrical Engineering and Computer Science, UC Berkeley

MURI Review Meeting

Frameworks and Tools for High-Confidence Design of Adaptive, Distributed Embedded Control Systems

Berkeley, CA

September 6, 2007


Starmac
STARMAC

  • Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC)

  • Testbed Composition

    • 6 quadrotor helicopters

  • Autonomous UAVs

    • Onboard computation & sensors

    • State and environment estimation

    • Attitude, altitude, position and trajectory control

  • Testbed goals

    • Quadrotor UAV design

    • Cooperative multi-agent control

    • Mobile sensor networks


Quadrotor features
Quadrotor Features

  • Vertical Takeoff and Landing (VTOL)

    • Easy to use indoors and outdoors

    • No runway required

  • Safety

    • Rotor kinetic energy distributed to 4 blades

    • Rotors can be within the frame

      • Can fly indoors without harm to user or aircraft

  • Control Design

    • More linear than standard helicopters

  • Maintenance

    • Few moving parts

    • Durable exterior protects contents

  • Cost

    • Can be fabricated in the lab

    • Made of low-cost parts

    • Low maintenance requirements



Starmac quadrotor helicopter
STARMAC Quadrotor Helicopter

Low Level Control Processor

Robostix

Carbon Fiber Tubing

Fiberglass Honeycomb

High LevelControl Processor

Stargate SBC

or PC/104

Plastic Tube Straps

GPS

Superstar II

BrushlessDC Motors

Axi 2208/26

Sonic Ranger

SRF08

Inertial MeasurementUnit (IMU)

3DMG-X1

Electronic Speed Controller

Phoenix 25

Battery

Lithium Polymer

LIDAR

Hokuyo

URG-04LX

Stereo Vision

Videre Systems

Small Vision System


Quadrotor Helicopter Actuation

  • Two pairs of counter rotating blades provide torque balance

  • Angular accelerations and vertical acceleration are controlled by varying the propeller speeds.

Yaw Torque

Roll/Pitch Torque

Total Thrust


Starmac network
STARMAC Network

Wifi

Netgear Rangemax 802.11g+≤ 54 Mbps

Ethernet

100 Mbps

Control Laptop Computer

Pentium Core Duo1 GB RAM, 2.16 GHz

Running Labview and ssh sessions

GroundGPS

Superstar II

RS232

19.2 kbps


Starmac electronics system
STARMAC Electronics System

LIDAR

URG-04LX

10 Hz ranges

RS232

115 kbps

PC/104

Pentium M1GB RAM, 1.8GHz

Est. & control

WiFi

802.11g+

≤ 54 Mbps

USB 2

480 Mbps

Stereo Cam

Videre STOC

30 fps 320x240

Firewire

480 Mbps

RS232

GPS

Superstar II

10 Hz

UART

19.2 kbps

Stargate 1.0

Intel PXA25564MB RAM, 400MHz

Supervisor, GPS

WiFi

802.11b

≤ 5 Mbps

CF

100 Mbps

UART115 Kbps

UART

IMU

3DMG-X1

76 or 100 Hz

UART

115 kbps

Robostix

Atmega128

Low level control

Ranger

SRF08

13 Hz Altitude

I2C

400 kbps

PPM100 Hz

Analog

Ranger

Mini-AE

10-50 Hz Altitude

Beacon

Tracker/DTS

1 Hz

ESC & Motors

Phoenix-25, Axi 2208/26

Timing/Analog


Low level control
Low Level Control

  • Event Driven

  • Real-time execution based on

    • Known transmission / receipt rates

    • Measurement of code chunk execution times

  • Fault Tolerant Communication

Main

(this is an asynchronous event)

SG RX

IMU RX

SG TX

IMU TX


Applications
Applications

Decentralized Collision Avoidance

Information Seeking Target Localization


Flyer brain architecture
“Flyer Brain” Architecture

Interfaces

signal

serial

UDP

Fcn call

Sensor

Processing

Estimator

COMM

CLASS

Controller

Planner

LIDAR

Enviro

GPS

GPS comm

LIDAR

Lidar comm

Real TimeController

GPS

Calc

State

Estimator

ROBO

Robo comm

GND comm

GND

GUI & Storage

any

GUI (10 Hz)

all

Flyers

Flyer comm

Logging

all


Questions and demo
Questions?… and demo…


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