An official website of the United States government
As our reliance on micro autonomous vehicles in- creases, security vulnerabilities and software defects threaten the successful completion of tasks and missions. Recent work has developed end-to-end toolchains that provide trusted and resilient operation in the face of defects and attacks. These toolchains enable automatically repairing (and patching) the control software in the event of a failure. Existing techniques force the subject control software to terminate and the vehicle to be motionless, making the restart or post-repair deployment more complex and slow. The challenge remains to ensure that vehicle control software can recover from attacks and defects quickly and safely, even while the target vehicle remains in motion. This paper presents a technique for faster, simpler, and seamless hardware switchover that operates while the vehicle is in motion. The key contribution is the ability to restart the control software post-repair while the vehicle is in motion by transplanting sensor data between onboard control computers to bypass a costly portion of initialization. Although existing check- point and restore methods allow software to recover execution at a known-functional state, they are not lightweight enough to support recovery during mission execution. Instead, our approach transplants known-good sensor data from a trusted, isolated execution environment in the onboard computing hardware. Our evaluation successfully reproduces prior simulation results in hardware. Further, sensor transplantation allows for successful initialization while in motion, reduces time-to-ready by 40%, and is robust to variances in sensor readings.
more »
« less
Simulating unmanned aerial vehicle swarms with the UB-ANC Emulator
Recent advances in multi-rotor vehicle control and miniaturization of hardware, sensing, and battery technologies have enabled cheap, practical design of micro air vehicles for civilian and hobby applications. In parallel, several applications are being envisioned that bring together a swarm of multiple networked micro air vehicles to accomplish large tasks in coordination. However, it is still very challenging to deploy multiple micro air vehicles concurrently. To address this challenge, we have developed an open software/hardware platform called the University at Buffalo’s Airborne Networking and Communications Testbed (UB-ANC), and an associated emulation framework called the UB-ANC Emulator. In this paper, we present the UB-ANC Emulator, which combines multi-micro air vehicle planning and control with high-fidelity network simulation, enables practitioners to design micro air vehicle swarm applications in software and provides seamless transition to deployment on actual hardware. We demonstrate the UB-ANC Emulator’s accuracy against experimental data collected in two mission scenarios: a simple mission with three networked micro air vehicles and a sophisticated coverage path planning mission with a single micro air vehicle. To accurately reflect the performance of a micro air vehicle swarm where communication links are subject to interference and packet losses, and protocols at the data link, network, and transport layers affect network throughput, latency, and reliability, we integrate the open-source discrete-event network simulator ns-3 into the UB-ANC Emulator. We demonstrate through node-to-node and end-to-end measurements how the UB-ANC Emulator can be used to simulate multiple networked micro air vehicles with accurate modeling of mobility, control, wireless channel characteristics, and network protocols defined in ns-3.
more »
« less
- PAR ID:
- 10547156
- Publisher / Repository:
- SAGE Publications
- Date Published:
- Journal Name:
- International Journal of Micro Air Vehicles
- Volume:
- 11
- ISSN:
- 1756-8293
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
-
We are experiencing a revolution in vehicle operation, with fully automated robotaxis deployed and available for public use in major U.S. markets in 2023. These vehicles, while imperfect, already are arguably safer than the average human driver. Despite this rapid progress, there remain significant research and development problems that must be addressed; beyond this, there is an underdeveloped workforce for skilled researchers, developers, and practitioners in these areas, a fact that may delay necessary advances. We have created and run for two years a National Science Foundation funded Research Experience for Undergraduates (NSF REU) focused on solving both unmet research needs, and workforce development and pipeline programs. In our REU, which makes use of simulation and two full-scale, street-legal drive-by-wire electric vehicles with perception, planning, and control capabilities, our primary goals include to (1) provide hands-on experiences to undergraduate students who otherwise might not have research opportunities to learn fundamental theories in autonomous vehicle development, (2) allow students to design algorithms to practice software development and evaluation using real vehicles on real test courses, (3) strengthen their confidence, self-guided capabilities, and research skills, and (4) increase the number of students, including those from diverse backgrounds and technical disciplines, interested in graduate programs to ultimately provide a quality research and development workforce to both academia and industry. Over the initial two years, a cohort of 8 diverse students each year learned fundamental self-driving and computer networking skills including coding for drive-by-wire vehicles, computer vision, use of localization, and interpretation of richer sensor data, as well as network and communication protocols. The students were introduced to research ideation and publishing concepts, mentored in designing and testing hypotheses, and then involved in two challenges related to self-driving and networked vehicles. Two teams of 4 designed, implemented, tested various self-drive and V2X algorithms using real vehicles on a test course, analyzed/evaluated test results, wrote technical reports, and delivered presentations. After the summer program was over, the technical reports were published in peer reviewed conferences and journals. Survey results show that students attained significant & real-world computer science skills in autonomous vehicle development leveraging real vehicles available. The programs also increased research career interests and strengthened students’ confidence, self-guided capabilities, and research skills, while additionally supporting the development of workshop materials, simulators, and related content that provide valuable resources for others planning to develop an undergraduate curriculum to teach self-drive and networked vehicle development.more » « less
-
In the ever-evolving landscape of autonomous vehicles, competition and research of high-speed autonomous racing emerged as a captivating frontier, pushing the limits of perception, planning, and control. Autonomous racing presents a setup where the intersection of cutting-edge software and hardware development sparks unprecedented opportunities and confronts unique challenges. The motorsport axiom, “If everything seems under control, then you are not going fast enough,” resonates in this special issue, underscoring the demand for algorithms and hardware that can navigate at the cutting edge of control, traction, and agility. In pursuing autonomy at high speeds, the racing environment becomes a crucible, pushing autonomous vehicles to execute split-second decisions with high precision. Autonomous racing, we believe, offers a litmus test for the true capabilities of self-driving software. Just as racing has historically served as a proving ground for automotive technology, autonomous racing now presents itself as the crucible for testing self-driving algorithms. While routine driving situations dominate much of the autonomous vehicle operations, focusing on extreme situations and environments is crucial to support investigation into safety benefits. The urgency of advancing highspeed autonomy is palpable in burgeoning autonomous racing competitions like Formula Student Driverless, F1TENTH autonomous racing, Roborace, and the Indy Autonomous Challenge. These arenas provide a literal testbed for testing perception, planning, and control algorithms and symbolize the accelerating traction of autonomous racing as a proving ground for agile and safe autonomy. Our special issue focuses on cutting-edge research into software and hardware solutions for highspeed autonomous racing. We sought contributions from the robotics and autonomy communities that delve into the intricacies of head-to-head multi-agent racing: modeling vehicle dynamics at high speeds, developing advanced perception, planning, and control algorithms, as well as the demonstration of algorithms, in simulation and in real-world vehicles. While presenting recent developments for autonomous racing, we believe these special issue papers will also create an impact in the broader realm of autonomous vehicles.more » « less
-
This paper presents a formulation for swarm control and high-level task planning that is dynamically responsive to user commands and adaptable to environmental changes. We design an end-to-end pipeline from a tactile tablet interface for user commands to onboard control of robotic agents based on decentralized ergodic coverage. Our approach demonstrates reliable and dynamic control of a swarm collective through the use of ergodic specifications for planning and executing agent trajectories as well as responding to user and external inputs. We validate our approach in a virtual reality simulation environment objectives in real-time. and in real-world experiments at the DARPA OFFSET Urban Swarm Challenge FX3 field tests with a robotic swarm where user-based control of the swarm and mission-based tasks require a dynamic and flexible response to changing conditions and objectives in real-time.more » « less
-
Dynamic network topology can pose important challenges to communication and control protocols in networks of autonomous vehicles. For instance, maintaining connectivity is a key challenge in unmanned aerial vehicle (UAV) networks. However, tracking and computational resources of the observer module might not be sufficient for constant monitoring of all surrounding nodes in large-scale networks. In this paper, we propose an optimal measurement policy for network topology monitoring under constrained resources. To this end, We formulate the localization of multiple objects in terms of linear networked systems and solve it using Kalman filtering with intermittent observation. The proposed policy includes two sequential steps. We first find optimal measurement attempt probabilities for each target using numerical optimization methods to assign the limited number of resources among targets. The optimal resource allocation follows a waterfall-like solution to assign more resources to targets with lower measurement success probability. This provides a 10% to 60% gain in prediction accuracy. The second step is finding optimal on-off patterns for measurement attempts for each target over time. We show that a regular measurement pattern that evenly distributed resources over time outperforms the two extreme cases of using all measurement resources either in the beginning or at the end of the measurement cycle. Our proof is based on characterizing the fixed-point solution of the error covariance matrix for regular patterns. Extensive simulation results confirm the optimality of the most alternating pattern with up to 10-fold prediction improvement for different scenarios. These two guidelines define a general policy for target tracking under constrained resources with applications to network topology prediction of autonomous systemsmore » « less
