Module/collective tracking control - Revision history

Noether: /* Usage */

2019-11-12T09:49:10Z

Usage

← Older revision		Revision as of 03:49, 12 November 2019
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	== Usage ==		== Usage ==

	Add this module in the target's flightplan		Add this module in the target's flightplan (if you want to track a fixed waypoint, you can skip this module)

	<source lang="html">		<source lang="html">
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	</source>		</source>

	You need to define the neighboring relations of the aircraft. To do so, after you power up all the autopilots, you need to set an internal table by sending a series of commands with the help of the Python script ./PAPARAZZI_HOME/sw/ground_segment/python/collective_tracking_control/~~ctc_init~~.py . You must pass two arguments, the first one is an integer with the ID of the target, the second one a .txt file with the IDs of the rest of the aircraft.		You need to define the neighboring relations of the aircraft. To do so, after you power up all the autopilots, you need to set an internal table by sending a series of commands with the help of the Python script ./PAPARAZZI_HOME/sw/ground_segment/python/collective_tracking_control/ctcInitTables.py . You must pass two arguments, the first one is an integer with the ID of the target, the second one a .txt file with the IDs of the rest of the aircraft. This script also resets the algorithm in case you want to start it over during the flight.

	The target will be broadcasting its position and velocity all the time. However, the rest of the aircraft will run the algorithm only if we tell them to do so. Hence, you must call the algorithm from the corresponding navigation block~~, i~~.~~e.,~~		The target will be broadcasting its position and velocity all the time. However, the rest of the aircraft will run the algorithm only if we tell them to do so. Hence, you must call the algorithm from the corresponding navigation block. You have three options:

			The team will track a moving vehicle. This vehicle can be faked from the ground control station for a moving waypoint.
	<source lang="html">		<source lang="html">
	<block name="Collective tracking control">		<block name="Collective tracking control">
	<call fun="~~collective_tracking_control~~()"/>		<call fun="collective_tracking_vehicle()"/>
			</block>
			</source>

			The team will track a waypoint
			<source lang="html">
			<block name="Collective tracking control">
			<call fun="collective_tracking_waypoint(WP_YOUR_WAYPOINT)"/>
			</block>
			</source>

			The team will track a XY point w.r.t. the HOME waypoint
			<source lang="html">
			<block name="Collective tracking control">
			<call fun="collective_tracking_point(x, y)"/>
	</block>		</block>
	</source>		</source>

Noether at 09:38, 12 November 2019

2019-11-12T09:38:29Z

← Older revision		Revision as of 03:38, 12 November 2019
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	== Introduction ==		== Introduction ==

	This module/algorithm (paper with the details at https://arxiv.org/abs/1810.00182) allows a team of aircraft (they can fly at different speeds) to track a (~~possibly~~ moving~~) target~~. In particular, the centroid of the team converges to the target as it is shown in the following screenshots.		This module/algorithm (paper with the details at https://arxiv.org/abs/1810.00182) allows a team of aircraft (they can fly at different speeds) to track a target. This target can be a fixed waypoint, or a moving target (another vehicle). From the ground station you can fake a moving vehicle in order to have a moving waypoint. In particular, the centroid of the team converges to the target as it is shown in the following screenshots.

	[[File:Ctc mission.png\|center\|1400px]]		[[File:Ctc mission.png\|center\|1400px]]

Noether at 10:12, 30 October 2019

2019-10-30T10:12:32Z

← Older revision		Revision as of 04:12, 30 October 2019
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			<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Modules</categorytree>

	== Introduction ==		== Introduction ==

	This module/algorithm (paper with the details at https://arxiv.org/abs/1810.00182) allows a team of aircraft (they can fly at different speeds) to track a (possibly moving) target. In particular, the centroid of the team converges to the target as it is shown in the following screenshots.		This module/algorithm (paper with the details at https://arxiv.org/abs/1810.00182) allows a team of aircraft (they can fly at different speeds) to track a (possibly moving) target. In particular, the centroid of the team converges to the target as it is shown in the following screenshots.

	[[File:Ctc mission.png\|center]]		[[File:Ctc mission.png\|center\|1400px]]

	At t=90 secs, the aircraft are just orbiting around a waypoint before the algorithm starts. At t=420 secs the centroid almost converge to the target's position. The other screenshots show the centroid of the formation tracking the moving target. The velocities of the aircraft were between 10 and 16 m/s. The target was moving between 2 and 4m/s.		At t=90 secs, the aircraft are just orbiting around a waypoint before the algorithm starts. At t=420 secs the centroid almost converge to the target's position. The other screenshots show the centroid of the formation tracking the moving target. The velocities of the aircraft were between 10 and 16 m/s. The target was moving between 2 and 4m/s.
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	</exceptions>		</exceptions>
	</source>		</source>

			[[Category:Modules]]

Noether: /* Usage */

2019-10-29T12:43:26Z

Usage

← Older revision		Revision as of 06:43, 29 October 2019
Line 76:		Line 76:
	You need to define the neighboring relations of the aircraft. To do so, after you power up all the autopilots, you need to set an internal table by sending a series of commands with the help of the Python script ./PAPARAZZI_HOME/sw/ground_segment/python/collective_tracking_control/ctc_init.py . You must pass two arguments, the first one is an integer with the ID of the target, the second one a .txt file with the IDs of the rest of the aircraft.		You need to define the neighboring relations of the aircraft. To do so, after you power up all the autopilots, you need to set an internal table by sending a series of commands with the help of the Python script ./PAPARAZZI_HOME/sw/ground_segment/python/collective_tracking_control/ctc_init.py . You must pass two arguments, the first one is an integer with the ID of the target, the second one a .txt file with the IDs of the rest of the aircraft.

	The target will be broadcasting its position and velocity all the time. However, the rest of the aircraft will run the algorithm only if we tell them so ~~in their~~ corresponding navigation block, i.e.,		The target will be broadcasting its position and velocity all the time. However, the rest of the aircraft will run the algorithm only if we tell them to do so. Hence, you must call the algorithm from the corresponding navigation block, i.e.,

	<source lang="html">		<source lang="html">

Noether: /* Usage */

2019-10-29T12:42:39Z

Usage

← Older revision		Revision as of 06:42, 29 October 2019
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	<source lang="html">		<source lang="html">
	<modules>		<modules>
	<module name="collective_tracking_control">		<module name="collective_tracking_control"/>
	</~~module~~>
	</modules>		</modules>
	</source>		</source>

Noether: /* Usage */

2019-10-29T12:42:18Z

Usage

← Older revision		Revision as of 06:42, 29 October 2019
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	== Usage ==		== Usage ==

	Add the module in ~~your~~ flightplan		Add this module in the target's flightplan

			<source lang="html">
			<modules>
			<module name="collective_tracking_control_target"/>
			</modules>
			</source>

			Add this module in the flightplan of each aircraft (no the target)
	<source lang="html">		<source lang="html">
	<modules>		<modules>

Noether: /* Custom messages */

2019-10-29T12:40:28Z

Custom messages

← Older revision		Revision as of 06:40, 29 October 2019
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	The module needs all-to-all communication (including the target). The following messages need to be included in your messages.xml.		The module needs all-to-all communication (including the target). The following messages need to be included in your messages.xml.

	These messages go in the telemetry section of messages.xml. The CTC_CONTROL message is just for telemetry porpuses.		These messages go in the telemetry section of messages.xml. The CTC_CONTROL message is just for telemetry porpuses, if you want it, do not forget to add the corresponding entry in the telemtry file.

	<source lang="html">		<source lang="html">

Noether: /* Tuning the gains, Python Simulation */

2019-10-29T12:06:21Z

Tuning the gains, Python Simulation

← Older revision		Revision as of 06:06, 29 October 2019
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	</source>		</source>

	== Tuning the gains, Python ~~Simulation~~ ==		== Tuning the gains, Python simulation ==

	The algorithm needs some parameters and gains to be set. The following Python simulation considers realistic orders of magnitude for distances and ground speeds. So you can try the gains and see the expected behavior of the algorithm before trying it in Paparazzi.		The algorithm needs some parameters and gains to be set. The following Python simulation considers realistic orders of magnitude for distances and ground speeds. So you can try the gains and see the expected behavior of the algorithm before trying it in Paparazzi.

Noether: /* Introduction */

2019-10-29T12:05:21Z

Introduction

← Older revision		Revision as of 06:05, 29 October 2019
Line 5:		Line 5:
	[[File:Ctc mission.png\|center]]		[[File:Ctc mission.png\|center]]

	At t=90 secs, the aircraft are just orbiting around a waypoint before the algorithm starts. At		At t=90 secs, the aircraft are just orbiting around a waypoint before the algorithm starts. At t=420 secs the centroid almost converge to the target's position. The other screenshots show the centroid of the formation tracking the moving target. The velocities of the aircraft were between 10 and 16 m/s. The target was moving between 2 and 4m/s.

	== Custom messages ==		== Custom messages ==

Noether: /* Introduction */

2019-10-29T12:03:59Z

Introduction

← Older revision		Revision as of 06:03, 29 October 2019
Line 1:		Line 1:
	== Introduction ==		== Introduction ==

	This module/algorithm (paper with the details at https://arxiv.org/abs/1810.00182) allows a team of aircraft (they can fly at different speeds) to track a (possibly moving) target. In particular, the centroid of the team converges to the target as it is shown in the following screenshots		This module/algorithm (paper with the details at https://arxiv.org/abs/1810.00182) allows a team of aircraft (they can fly at different speeds) to track a (possibly moving) target. In particular, the centroid of the team converges to the target as it is shown in the following screenshots.

	[[File:Ctc mission.png\|center]]		[[File:Ctc mission.png\|center]]

			At t=90 secs, the aircraft are just orbiting around a waypoint before the algorithm starts. At

	== Custom messages ==		== Custom messages ==