LinkLab - Projects

Projects

NFFP5 - Mixed Initiative Decision Support for Complex Collaborative Systems

Project Leader: Patrick Doherty, IDA-LiU
Co-Project Leader: Erik Kuipers, Saab
Status: Completed. 2010/01/01 -- 2012/06/31
Funded by LinkLab, Saab, NFFP5-VINNOVA

Project Goals: The goal of this project is to develop decision support systems for cooperative UAV activities. Issues to be studied are mixed initiative interaction, delegation frameworks, adjustable autonomy and distributed planning techniques.

NAVINOUT - Indoor/Outdoor Visual Navigation for Micro/Mid-Sized UAVS

Project Leader: Patrick Doherty, IDA-LiU
Co-Project Leader: Erik Kuipers, Saab
Status: Completed. 2010/01/01 -- 2012/06/31
Funded by LinkLab, Saab, NFFP5

Project Goals: Develop techniques for integrating work with a multi-agent deconfliction tool AGENTFLY with motion planning techniques for micro-aerial vehicles.

UAVSurveill - UAV-based Communication Relay Networks and Multi-Platform, Multi-Target Surveillence

Project Leader: Patrick Doherty, IDA-LiU
Co-Project Leader: Erik Kuipers, Saab
Status: In progress. 2011/01/01 -- 2012/06/31
Funded by LinkLab, Saab, NFFP5

Project Goals: Both IDA, MAI and Saab would be actively involved in this project.

DECONFLICT - Motion Planning and Deconfliction

Project Leader: Patrick Doherty, IDA-LiU
Co-Project Leader: Erik Kuipers, Saab
Status: Completed. 2010/01/01 -- 2011/12/31
Funded by LinkLab, Saab

Project Goals: Develop techniques for integrating work with a multi-agent deconfliction tool AGENTFLY with motion planning techniques for micro-aerial vehicles.

VISINAV - Non-GPS Based Navigation Techniques for UAVs

Project Leader: Patrick Doherty, IDA-LiU
Co-Project Leader: Jonas Palm, Saab
Status: Completed. 2008/01/01 -- 2009/12/31
Funded by LinkLab, Saab

Project Goals: Develop deployable techniques for outdoor non-GPS based navigation for UAVs.

UAVRELAY - UAV-based Communication Relays

Project Leader: Patrick Doherty, IDA-LiU
Co-Project Leader: Jonas Palm, Saab
Status: In progress. 2008/01/01 -- 2010/12/31
Funded by LinkLab, Saab

Project Goals: In operational environments with heterogenous terrain, it is often the case that communication links must be set up with several UAVs in order to create a link between a ground station and a UAV involved in a monitoring or surveillance mission involving one or more targets. The targets can be both static and dynamic. In the case of dynamic targets, the problem is not only one of optimization but of integration with a motion planner. The goal of this pro ject is to develop and test algorithms to deal with this generic and important problem. Boht IDA, MAI and Saab would be actively involved in this project..

FCBOARD - Indoor/Outdoor Visual Navigation for Micro Air Vehicles

Project Leader: Patrick Doherty, IDA-LiU
Co-Project Leader: Jonas Palm, Saab
Status: Completed. 2008/01/01 -- 2010/12/31
Funded by LinkLab, Saab

Project Goals: The goal of this pro ject is to integrate an image processing sensor with an existing flight control board for micro-UAVS and develop the software required for visual navigation in indoor and outdoor environments. As a first step, a Triton board will be integrated with the flight control board. The Triton uses hardware found in mobile telephone systems. Consequently, software used for pose estimation in mobile phones may be leveraged in the development of visual navigation techniques for micro-UAVs. The algorithms and drivers developed for the micro-UAVs can also be used for larger sized platforms.

NFFP-S403 - Cooperative Cognitive Computing with UAVs using a Network-Centric Perspective

Project Leader: Patrick Doherty, IDA-LiU
Co-Project Leader: Jonas Palm, Saab
Status: Finished. 2006/03/01 -- 2008/12/31
Funded by LinkLab, Saab, NFFP

Project Goals: Development of theoretical foundations for key functionalities for autonomous systems that can be practically realizable in either Saab's future platforms and/or the LinkLAB UAV platforms. The project focuses on multi-UAV cooperative behavior realted to task and path planning, situation awareness and autonomous decision making.

NFFP4-S402 - Autonomous Flight Control and Decision Making Capabilities for Micro-UAVs

Project Leader: Patrick Doherty, IDA-LiU
Co-Project Leader: Jonas Palm, Saab
Status: Finished. 2006/03/01 -- 2008/12/31
Funded by LinkLab, Saab, NFFP

Project Goals: Development of rotor- and fixedwing Micro Air Vehicles with indoor and outdoor navigation capabilities in addition to cooperative task solving.

COSLAM -Cooperative Solutions for Mapping, Localization and Navigation

Project Leader: Patrick Doherty, IDA-LiU
Co-Project Leader: Fredrik Gustafsson, ISY-LiU
Status: Finished. 2005/02/01 -- 2008/02/01
Funded by LinkLab, Wallenberg Foundation

Project Goals: Develop deployable techniques for single and multi-platform SLAM for both indoor and outdoor navigation and mapping.

ADHOCNET - Real-time communication in dynamic wireless ad hoc networks

Project Leader: Kajsa Åhlin, Saab
Project Co-Leader: Simin Nadjm-Tehrani, IDA-LiU
Status: In progress. 2005/04/01 -
Funded by LinkLab, Saab, SAVE-IT

Project Goals: The main project goal is to develop algorithms for prioritizing and transmitting real-time data in dynamic wireless ad hoc networks. Based on non-exclusive media access the nodes shall attempt to, based on priorities, transmit as much real-time data on the wireless network as possible. To verify the suitability of the developed algorithms they will be tested in a simulated environment.

MINIUAV - Experimental Mini-UAV Prototypes

Project Leader: Patrick Doherty IDA-LiU
Co-Project Leader: Simone Duranti, Saab
Status: Finished. 2005/01/01 -- 2008/01/01
Funded by LinkLab, Saab, Wallenberg Foundation

Project Goals: The project goals are to develop smaller double and single rotor mini-UAV prototypes with autonomous control modes for operastion in and around physical structures. There is both a design and physical construction component in addition to development of a control kernal and integration of mini-UAVs in larger multi-platform configurations.

DIAL-A-UAV - GSM-based Adhoc Distributed Information and Control Networks

Project Leader: Patrick Doherty IDA-LiU
Co-Project Leader: Simone Duranti, Saab
Status: Finished. 2005/05/01 -- 2008/01/01
Funded by LinkLab, Wallenberg Foundation

Project Goals: GSM and its related technologies GPRS, EDGE, 3GSM offer an interesting communications infrastructure for remotely accessing, controlling and interacting with unmanned aerial vehicles in an integrated and highly portable manner. Additional ability to acquire and send multi-modal information through the Internet and WWW provide interesting opportunities for creating ad-hoc distributed networks inhabited by humans, aerial and ground robots and other information sources. The goal of this project is to experiment with this technology by creating a prototype distributed system inhabited by aerial and ground robots with human operators and develop principles for future use of this technology platform.

COMPAS - Components for Autonomous Systems

Project Leader: Måns Mångård, Saab
Project Co-Leader: Patrick Doherty, IDA-LiU
Status: Finished. 2004/06/01 -- 2005/06/30
Funded by NFFP04, Saab

Project Goals: The main project goal is to demonstrate parts of complex missions for autonomous UAVs using limited flights and simulations.The main research topics in the project are automated planning, autonomous decision making and support for situation awareness.

RTNET - Real-Time Ethernet Studies

Project Leader: Kajsa Åhlin, Saab
Project Co-Leader: Patrick Doherty, IDA-LiU
Status: Finished. 2004/10/01 -- 2005/06/30
Funded by Saab

Project Goals: The project goals are three-fold; a report analyzing research and industrial activity with real-time ethernet; a simulation study using different real-time ethernet configurations; a software/hardware prototype tested on a Yamaha RMAX experimental UAV platform developed by the Autonomous UAV Technologies Group at Linköping University.


Vision LinkLab Organization Current Projects Project Proposals Research Themes UAV Activities Links Master's Thesis Opportunities Contacts Internal Pages	Projects NFFP5 - Mixed Initiative Decision Support for Complex Collaborative Systems Project Leader: Patrick Doherty, IDA-LiU Co-Project Leader: Erik Kuipers, Saab Status: Completed. 2010/01/01 -- 2012/06/31 Funded by LinkLab, Saab, NFFP5-VINNOVA Project Goals: The goal of this project is to develop decision support systems for cooperative UAV activities. Issues to be studied are mixed initiative interaction, delegation frameworks, adjustable autonomy and distributed planning techniques. NAVINOUT - Indoor/Outdoor Visual Navigation for Micro/Mid-Sized UAVS Project Leader: Patrick Doherty, IDA-LiU Co-Project Leader: Erik Kuipers, Saab Status: Completed. 2010/01/01 -- 2012/06/31 Funded by LinkLab, Saab, NFFP5 Project Goals: Develop techniques for integrating work with a multi-agent deconfliction tool AGENTFLY with motion planning techniques for micro-aerial vehicles. UAVSurveill - UAV-based Communication Relay Networks and Multi-Platform, Multi-Target Surveillence Project Leader: Patrick Doherty, IDA-LiU Co-Project Leader: Erik Kuipers, Saab Status: In progress. 2011/01/01 -- 2012/06/31 Funded by LinkLab, Saab, NFFP5 Project Goals: Both IDA, MAI and Saab would be actively involved in this project. DECONFLICT - Motion Planning and Deconfliction Project Leader: Patrick Doherty, IDA-LiU Co-Project Leader: Erik Kuipers, Saab Status: Completed. 2010/01/01 -- 2011/12/31 Funded by LinkLab, Saab Project Goals: Develop techniques for integrating work with a multi-agent deconfliction tool AGENTFLY with motion planning techniques for micro-aerial vehicles. VISINAV - Non-GPS Based Navigation Techniques for UAVs Project Leader: Patrick Doherty, IDA-LiU Co-Project Leader: Jonas Palm, Saab Status: Completed. 2008/01/01 -- 2009/12/31 Funded by LinkLab, Saab Project Goals: Develop deployable techniques for outdoor non-GPS based navigation for UAVs. UAVRELAY - UAV-based Communication Relays Project Leader: Patrick Doherty, IDA-LiU Co-Project Leader: Jonas Palm, Saab Status: In progress. 2008/01/01 -- 2010/12/31 Funded by LinkLab, Saab Project Goals: In operational environments with heterogenous terrain, it is often the case that communication links must be set up with several UAVs in order to create a link between a ground station and a UAV involved in a monitoring or surveillance mission involving one or more targets. The targets can be both static and dynamic. In the case of dynamic targets, the problem is not only one of optimization but of integration with a motion planner. The goal of this pro ject is to develop and test algorithms to deal with this generic and important problem. Boht IDA, MAI and Saab would be actively involved in this project.. FCBOARD - Indoor/Outdoor Visual Navigation for Micro Air Vehicles Project Leader: Patrick Doherty, IDA-LiU Co-Project Leader: Jonas Palm, Saab Status: Completed. 2008/01/01 -- 2010/12/31 Funded by LinkLab, Saab Project Goals: The goal of this pro ject is to integrate an image processing sensor with an existing flight control board for micro-UAVS and develop the software required for visual navigation in indoor and outdoor environments. As a first step, a Triton board will be integrated with the flight control board. The Triton uses hardware found in mobile telephone systems. Consequently, software used for pose estimation in mobile phones may be leveraged in the development of visual navigation techniques for micro-UAVs. The algorithms and drivers developed for the micro-UAVs can also be used for larger sized platforms. NFFP-S403 - Cooperative Cognitive Computing with UAVs using a Network-Centric Perspective Project Leader: Patrick Doherty, IDA-LiU Co-Project Leader: Jonas Palm, Saab Status: Finished. 2006/03/01 -- 2008/12/31 Funded by LinkLab, Saab, NFFP Project Goals: Development of theoretical foundations for key functionalities for autonomous systems that can be practically realizable in either Saab's future platforms and/or the LinkLAB UAV platforms. The project focuses on multi-UAV cooperative behavior realted to task and path planning, situation awareness and autonomous decision making. NFFP4-S402 - Autonomous Flight Control and Decision Making Capabilities for Micro-UAVs Project Leader: Patrick Doherty, IDA-LiU Co-Project Leader: Jonas Palm, Saab Status: Finished. 2006/03/01 -- 2008/12/31 Funded by LinkLab, Saab, NFFP Project Goals: Development of rotor- and fixedwing Micro Air Vehicles with indoor and outdoor navigation capabilities in addition to cooperative task solving. COSLAM -Cooperative Solutions for Mapping, Localization and Navigation Project Leader: Patrick Doherty, IDA-LiU Co-Project Leader: Fredrik Gustafsson, ISY-LiU Status: Finished. 2005/02/01 -- 2008/02/01 Funded by LinkLab, Wallenberg Foundation Project Goals: Develop deployable techniques for single and multi-platform SLAM for both indoor and outdoor navigation and mapping. ADHOCNET - Real-time communication in dynamic wireless ad hoc networks Project Leader: Kajsa Åhlin, Saab Project Co-Leader: Simin Nadjm-Tehrani, IDA-LiU Status: In progress. 2005/04/01 - Funded by LinkLab, Saab, SAVE-IT Project Goals: The main project goal is to develop algorithms for prioritizing and transmitting real-time data in dynamic wireless ad hoc networks. Based on non-exclusive media access the nodes shall attempt to, based on priorities, transmit as much real-time data on the wireless network as possible. To verify the suitability of the developed algorithms they will be tested in a simulated environment. MINIUAV - Experimental Mini-UAV Prototypes Project Leader: Patrick Doherty IDA-LiU Co-Project Leader: Simone Duranti, Saab Status: Finished. 2005/01/01 -- 2008/01/01 Funded by LinkLab, Saab, Wallenberg Foundation Project Goals: The project goals are to develop smaller double and single rotor mini-UAV prototypes with autonomous control modes for operastion in and around physical structures. There is both a design and physical construction component in addition to development of a control kernal and integration of mini-UAVs in larger multi-platform configurations. DIAL-A-UAV - GSM-based Adhoc Distributed Information and Control Networks Project Leader: Patrick Doherty IDA-LiU Co-Project Leader: Simone Duranti, Saab Status: Finished. 2005/05/01 -- 2008/01/01 Funded by LinkLab, Wallenberg Foundation Project Goals: GSM and its related technologies GPRS, EDGE, 3GSM offer an interesting communications infrastructure for remotely accessing, controlling and interacting with unmanned aerial vehicles in an integrated and highly portable manner. Additional ability to acquire and send multi-modal information through the Internet and WWW provide interesting opportunities for creating ad-hoc distributed networks inhabited by humans, aerial and ground robots and other information sources. The goal of this project is to experiment with this technology by creating a prototype distributed system inhabited by aerial and ground robots with human operators and develop principles for future use of this technology platform. COMPAS - Components for Autonomous Systems Project Leader: Måns Mångård, Saab Project Co-Leader: Patrick Doherty, IDA-LiU Status: Finished. 2004/06/01 -- 2005/06/30 Funded by NFFP04, Saab Project Goals: The main project goal is to demonstrate parts of complex missions for autonomous UAVs using limited flights and simulations.The main research topics in the project are automated planning, autonomous decision making and support for situation awareness. RTNET - Real-Time Ethernet Studies Project Leader: Kajsa Åhlin, Saab Project Co-Leader: Patrick Doherty, IDA-LiU Status: Finished. 2004/10/01 -- 2005/06/30 Funded by Saab Project Goals: The project goals are three-fold; a report analyzing research and industrial activity with real-time ethernet; a simulation study using different real-time ethernet configurations; a software/hardware prototype tested on a Yamaha RMAX experimental UAV platform developed by the Autonomous UAV Technologies Group at Linköping University.
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