The main concepts and structure of the project are shown in the figure. The two pillars of the structure are distributed estimation and distributed planning control. These two pillars (Objectives O1 and O2) support the engineering objectives related to accuracy (Objective O4) and scalability (Objective O5) required for the applications. The application of the reserach in O1 and O2 to the industrial applications in O4 and O5 requires new architectural paradigms and tools (Objective 3). The particular applications considered in the project are also shown in the figure. In the following these objectives will be detailed.
- O1) Development of new robust distributed probabilistic state estimation/prediction and event detection/tracking methods for complex high mobility systems.
The methods that will be developed in ECSAFEMOBIL will be able to integrate in real-time information from heterogeneous sensors and signals such us inertial measurement units, GPS receivers, visual images, infrared images, radio signal intensity, LIDAR (Light Detection and Ranging) and radar. Existing methods will be combined with the development of new ones looking to improve the reliability and safety in industrial scenarios.
- O2) Development of new distributed methods for safe real-time networked cooperation, coordination, and control.
Networked control and cooperation techniques for high mobility systems including large numbers of both, manned and unmanned vehicles will be developed. Emphasis is on safety and scalability. Thus, trajectory planning and control algorithms that consider safety explicitly will be developed. Networked control techniques for tightly coupled entities will be researched. These control techniques should take into account synchronization constraints, network capabilities and the dynamics of the coupled system.
- O3) Development of the architectural paradigms required for the efficient, safe and secure industrial applications of the methods developed in O1 and O2.
Architectural paradigms required for the efficient, safe and secure industrial applications of the methods developed in O1 and O2 will be developed. The safety challenges to be addressed are related to assure synchronisation and temporal constraints in distributed systems for high mobility applications. Furthermore, the security of Mobile Ad Hoc Network (MANET) for estimation and control will also be researched.
- O4) Very accurate coupled motion control of two mobile entities with the following applications:
The following classes of applications will be investigated:
- Landing of autonomous aerial vehicles on mobile platforms, including ships and ground vehicles.
- Autonomous functionalities for manned aircraft including undocking/releasing for deploying small unmanned aerial systems from a large aircraft decreasing mission preparation time compared to the common approach where a manned helicopter has to land in order to release an unmanned craft.
- O5) Distributed safe reliable cooperation and coordination of many high mobility entities.
The cooperation of aerial and ground mobility entities for activities such as the tracking of multiple targets with uncertain dynamics will be considered. It will include decentralised methods for the localisation and tracking of a large number of tagged and untagged mobile entities that could be unmanned or manned, involving task planning and allocation, trajectory planning, reconfiguration of the trajectories, and coordinated motion control.