Fiscal Year	2014
Division	Graduate School of Engineering & Applied Science
Department	Physics
Investigator(s)	Campbell, Brenton N.
Sponsor	Space & Naval Warfare Systems Command (Navy)
Summary	For our study we consider the problem of an operator in the field with many quadrotor UAVs. Instead of using a simulation, we conduct tests in a controlled physical environment The scenario approximates a soldier on patrol in a hostile environment who is attempting to detect and localize threats. One goal of the experiment is to create an algorithm to have the UAVs take off as a group and self-organize into a formation around the user. As the operator moves through the environment the drones will maintain distance from the operator and each other. During the evolution the drones will actively scan the area for threats using the onboard sensors. If a threat is detected, the swarm will alert the user. The experiment will explore the best methods for the operator to control swarm behavior while embedded among the units. At a minimum, methods for ordering swarm formation creation, formation breaking, and relative UAV position will be explored. The framework for controlling drone behavior will be based on potential field methods where the drone reacts to artificially repulsive and attractive forces created by other UAVs, obstacles, and the operator.
Keywords
Publications	Publications, theses (not shown) and data repositories will be added to the portal record when information is available in FAIRS and brought back to the portal
Data	Publications, theses (not shown) and data repositories will be added to the portal record when information is available in FAIRS and brought back to the portal