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Implementation of a Wireless Mesh Network of Ultra Light MAVs with Dynamic Routing Alberto Jimenez-Pacheco Laboratory of Mobile Communications, EPFL, Switzerland alberto.jimenez@epfl.ch Globecom Wi-UAV Workshop 2012 Anaheim, December 7th 2012

Implementation of a Wireless Mesh Network of Ultra Light MAVs with Dynamic Routing Alberto Jimenez-Pacheco Laboratory of Mobile Communications, EPFL, Switzerland alberto.jimenez@epfl.ch Globecom Wi-UAV Workshop 2012 Anaheim, December 7th 2012 Joint work with : Denia Bouhired, Yannick Gasser, Jean-Christophe Zufferey, Dario Floreano and Bixio Rimoldi alberto.jimenez@epfl.ch (EPFL) SMAVNET Aneheim, Dec. 7th 2012 1 / 17
Outline Introduction 1 Flying Platform 2 Communication Systems and Dynamic Routing 3 Experimental results 4 Conclusions and future work 5 alberto.jimenez@epfl.ch (EPFL) SMAVNET Aneheim, Dec. 7th 2012 2 / 17
Introduction SMAVNET: Swarm Micro Air Vehicle NETwork Framework : Swarming network of unmanned micro air vehicles for deployment in outdoor areas and challenging terrain: Disaster areas of difficult access Urban environments ⇒ Fast deployment + high maneuverability + no pre-existing infrastructure Goal : To improve the wireless communications Extend communication range Avoid obstacles (nLOS communication) Challenge : system must cope with Fast variability of the wireless channel High mobility of the MAVs Proposed solution : WiFi + dynamic routing with OLSR (with link quality extensions) alberto.jimenez@epfl.ch (EPFL) SMAVNET Aneheim, Dec. 7th 2012 3 / 17
Introduction SMAVNET: Swarm Micro Air Vehicle NETwork Framework : Swarming network of unmanned micro air vehicles for deployment in outdoor areas and challenging terrain: Disaster areas of difficult access Urban environments ⇒ Fast deployment + high maneuverability + no pre-existing infrastructure Goal : To improve the wireless communications Extend communication range Avoid obstacles (nLOS communication) Challenge : system must cope with Fast variability of the wireless channel High mobility of the MAVs Proposed solution : WiFi + dynamic routing with OLSR (with link quality extensions) alberto.jimenez@epfl.ch (EPFL) SMAVNET Aneheim, Dec. 7th 2012 3 / 17
Introduction SMAVNET: Swarm Micro Air Vehicle NETwork Framework : Swarming network of unmanned micro air vehicles for deployment in outdoor areas and challenging terrain: Disaster areas of difficult access Urban environments ⇒ Fast deployment + high maneuverability + no pre-existing infrastructure Goal : To improve the wireless communications Extend communication range Avoid obstacles (nLOS communication) Challenge : system must cope with Fast variability of the wireless channel High mobility of the MAVs Proposed solution : WiFi + dynamic routing with OLSR (with link quality extensions) alberto.jimenez@epfl.ch (EPFL) SMAVNET Aneheim, Dec. 7th 2012 3 / 17
Introduction SMAVNET: Swarm Micro Air Vehicle NETwork Framework : Swarming network of unmanned micro air vehicles for deployment in outdoor areas and challenging terrain: Disaster areas of difficult access Urban environments ⇒ Fast deployment + high maneuverability + no pre-existing infrastructure Goal : To improve the wireless communications Extend communication range Avoid obstacles (nLOS communication) Challenge : system must cope with Fast variability of the wireless channel High mobility of the MAVs Proposed solution : WiFi + dynamic routing with OLSR (with link quality extensions) alberto.jimenez@epfl.ch (EPFL) SMAVNET Aneheim, Dec. 7th 2012 3 / 17
Flying Platform Flying Platform Built on expanded poly-propylene Total weight ≈ 450 g Very small inertia battery Safe for third parties autopilot & embedded PC Payload ≈ 150 g pitot tube Tight constraints for motor and communication equipment: propeller weight, power consumption, wifi card elevons computing power 80 cm Propelled by DC electrical motor in !"#$ %$ &'() ! *"+# ,"+# (-. -/01--. )23)."4)+05 4'1) -/0 -( 5-(0 4'0)."'6 Drone cruise speed ≈ 10 m / s the rear end Can operate in light breeze, Elevons: two control surfaces that with wind speeds up to 7 m / s serve as combined ailerons and elevators LiPo battery ( ≈ 60 min autonomy) alberto.jimenez@epfl.ch (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 17
Flying Platform Flying Platform Built on expanded poly-propylene Total weight ≈ 450 g Very small inertia battery Safe for third parties autopilot & embedded PC Payload ≈ 150 g pitot tube Tight constraints for motor and communication equipment: propeller weight, power consumption, wifi card elevons computing power 80 cm Propelled by DC electrical motor in !"#$ %$ &'() ! *"+# ,"+# (-. -/01--. )23)."4)+05 4'1) -/0 -( 5-(0 4'0)."'6 Drone cruise speed ≈ 10 m / s the rear end Can operate in light breeze, Elevons: two control surfaces that with wind speeds up to 7 m / s serve as combined ailerons and elevators LiPo battery ( ≈ 60 min autonomy) alberto.jimenez@epfl.ch (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 17
Flying Platform Flying Platform Built on expanded poly-propylene Total weight ≈ 450 g Very small inertia battery Safe for third parties autopilot & embedded PC Payload ≈ 150 g pitot tube Tight constraints for motor and communication equipment: propeller weight, power consumption, wifi card elevons computing power 80 cm Propelled by DC electrical motor in !"#$ %$ &'() ! *"+# ,"+# (-. -/01--. )23)."4)+05 4'1) -/0 -( 5-(0 4'0)."'6 Drone cruise speed ≈ 10 m / s the rear end Can operate in light breeze, Elevons: two control surfaces that with wind speeds up to 7 m / s serve as combined ailerons and elevators LiPo battery ( ≈ 60 min autonomy) alberto.jimenez@epfl.ch (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 17
Flying Platform Flying Platform Built on expanded poly-propylene Total weight ≈ 450 g Very small inertia battery Safe for third parties autopilot & embedded PC Payload ≈ 150 g pitot tube Tight constraints for motor and communication equipment: propeller weight, power consumption, wifi card elevons computing power 80 cm Propelled by DC electrical motor in !"#$ %$ &'() ! *"+# ,"+# (-. -/01--. )23)."4)+05 4'1) -/0 -( 5-(0 4'0)."'6 Drone cruise speed ≈ 10 m / s the rear end Can operate in light breeze, Elevons: two control surfaces that with wind speeds up to 7 m / s serve as combined ailerons and elevators LiPo battery ( ≈ 60 min autonomy) alberto.jimenez@epfl.ch (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 17
Flying Platform Flying Platform Built on expanded poly-propylene Total weight ≈ 450 g Very small inertia battery Safe for third parties autopilot & embedded PC Payload ≈ 150 g pitot tube Tight constraints for motor and communication equipment: propeller weight, power consumption, wifi card elevons computing power 80 cm Propelled by DC electrical motor in !"#$ %$ &'() ! *"+# ,"+# (-. -/01--. )23)."4)+05 4'1) -/0 -( 5-(0 4'0)."'6 Drone cruise speed ≈ 10 m / s the rear end Can operate in light breeze, Elevons: two control surfaces that with wind speeds up to 7 m / s serve as combined ailerons and elevators LiPo battery ( ≈ 60 min autonomy) alberto.jimenez@epfl.ch (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 17
Flying Platform Flying Platform Built on expanded poly-propylene Total weight ≈ 450 g Very small inertia battery Safe for third parties autopilot & embedded PC Payload ≈ 150 g pitot tube Tight constraints for motor and communication equipment: propeller weight, power consumption, wifi card elevons computing power 80 cm Propelled by DC electrical motor in !"#$ %$ &'() ! *"+# ,"+# (-. -/01--. )23)."4)+05 4'1) -/0 -( 5-(0 4'0)."'6 Drone cruise speed ≈ 10 m / s the rear end Can operate in light breeze, Elevons: two control surfaces that with wind speeds up to 7 m / s serve as combined ailerons and elevators LiPo battery ( ≈ 60 min autonomy) alberto.jimenez@epfl.ch (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 17
Flying Platform Flying Platform Built on expanded poly-propylene Total weight ≈ 450 g Very small inertia battery Safe for third parties autopilot & embedded PC Payload ≈ 150 g pitot tube Tight constraints for motor and communication equipment: propeller weight, power consumption, wifi card elevons computing power 80 cm Propelled by DC electrical motor in !"#$ %$ &'() ! *"+# ,"+# (-. -/01--. )23)."4)+05 4'1) -/0 -( 5-(0 4'0)."'6 Drone cruise speed ≈ 10 m / s the rear end Can operate in light breeze, Elevons: two control surfaces that with wind speeds up to 7 m / s serve as combined ailerons and elevators LiPo battery ( ≈ 60 min autonomy) alberto.jimenez@epfl.ch (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 17
Flying Platform Flying Platform Built on expanded poly-propylene Total weight ≈ 450 g Very small inertia battery Safe for third parties autopilot & embedded PC Payload ≈ 150 g pitot tube Tight constraints for motor and communication equipment: propeller weight, power consumption, wifi card elevons computing power 80 cm Propelled by DC electrical motor in !"#$ %$ &'() ! *"+# ,"+# (-. -/01--. )23)."4)+05 4'1) -/0 -( 5-(0 4'0)."'6 Drone cruise speed ≈ 10 m / s the rear end Can operate in light breeze, Elevons: two control surfaces that with wind speeds up to 7 m / s serve as combined ailerons and elevators LiPo battery ( ≈ 60 min autonomy) alberto.jimenez@epfl.ch (EPFL) SMAVNET Aneheim, Dec. 7th 2012 4 / 17

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