Advanced Search
DSpace@MIT

A distributed embedded software architecture for multiple Unmanned Aerial Vehicles

Research and Teaching Output of the MIT Community

Show simple item record

dc.contributor.advisor Jonathan P. How. en_US
dc.contributor.author Matczynski, Michael J en_US
dc.contributor.other Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. en_US
dc.date.accessioned 2007-04-20T15:50:30Z
dc.date.available 2007-04-20T15:50:30Z
dc.date.copyright 2006 en_US
dc.date.issued 2006 en_US
dc.identifier.uri http://hdl.handle.net/1721.1/37210
dc.description Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2006. en_US
dc.description Includes bibliographical references (leaves 52-54). en_US
dc.description.abstract In order to deploy intelligent, next-generation applications on Unmanned Aerial Vehicles (UAVs), we must first develop a software architecture that supports onboard computation and flexible communication. This thesis presents an Onboard Planning Module developed from an embedded PC/104 Linux-based computer that communicates directly with the UAV's autopilot to retrieve telemetry data and update the UAV's flight path. A serial communication program exchanges data with the UAV's autopilot while a multithreaded module enables concurrent onboard Mixed-Integer Linear Programming (MILP) optimization. The Mission Manager Graphical User Interface (GUI) monitors the status of each Onboard Planning Module on a team of UAVs using the onboard planning protocol. Two task assignment scenarios are simulated to demonstrate the system operating with both a single and multiple UAV task selection algorithm. en_US
dc.description.statementofresponsibility by Michael J. Matczynski. en_US
dc.format.extent 54 leaves en_US
dc.language.iso eng en_US
dc.publisher Massachusetts Institute of Technology en_US
dc.rights M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. en_US
dc.rights.uri http://dspace.mit.edu/handle/1721.1/7582
dc.subject Electrical Engineering and Computer Science. en_US
dc.title A distributed embedded software architecture for multiple Unmanned Aerial Vehicles en_US
dc.type Thesis en_US
dc.description.degree M.Eng. en_US
dc.contributor.department Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. en_US
dc.identifier.oclc 80777405 en_US


Files in this item

Name Size Format Description
80777405-MIT.pdf 9.503Mb PDF Full printable version

This item appears in the following Collection(s)

Show simple item record

MIT-Mirage