Hybrid Sytems Lab

1
Hybrid Sytems Lab

• DragonFly - Next Generation
• Darpa ITO Visit 3/10/00

2
Talk Outline

• DragonFly I UAV Program
• current hardware/subsystems
• system architecture
• application architecture
• Research on SEC
• current research outline
• DragonFly-Next Generation
• experiment setup system design

3
Current Research Outline

• Hybrid Control of Multi-Agent Systems
• real-time decentralized coordination
• asynchronous control over a network
• Dynamic Information Management
• intelligent sensors
• distributed client/server architecture
• Autonomous Network - Application Platform
• DragonFly - Next Generation

4
DragonFly - Next Generation

• Unique platform for applied advanced control
  system research
• Distributed cooperative control
• multiple agents
• peer-peer networking
• Autonomous fleet management
• client/server architecture
• point-multipoint networking
• Sensor integration
• GPS/INS blending
• redundancy

5
DragonFly Experimental Setup
Wireless Ethernet - 1Mbps
peer-peer network
point-multipoint network
Videolink
Wireless Modem - 56kbaud
Radiolink - 115kbaud
TCP/IP
Local Hub
QNX
WIN
LAN
Application Station
Ground Station
6
Application Node

• Application Station
• Internet webserver
• System monitoring
• Videolink
• 3D visualization
• Future applications
• TCP/IP networking
• multiple nodes
• WAAS/LAAS

7
DragonFly Heritage

• Paul Montgomery
• DragonFly I
• Jennifer Evans, Greg McNutt,
• Judy Liebman, Chris Carlson, John Mah, William
  Hodge
• Gokhan Inalhan, Jung Soon Jang
• Prof. Claire Tomlin, Prof. Brad Parkinson