NDLI: CARUS, an operational retasking application for a swarm of autonomous UAVs: First return on experience

Content Provider	IEEE Xplore Digital Library
Author	Chaumette, S. Laplace, R. Mazel, C. Mirault, R. Dunand, A. Lecoutre, Y. Perbet, J.-N.
Copyright Year	2011
Description	Author affiliation: Thales Avionics - Albatros, France (Perbet, J.-N.) \|\| LaBRI, Université de Bordeaux, France (Chaumette, S.; Laplace, R.) \|\| DGA IP/TSI/TTS, France (Dunand, A.) \|\| Thales Systèmes Aéroportés, France (Lecoutre, Y.) \|\| Fly-n-Sense, Bordeaux TechnoWest, France (Mazel, C.; Mirault, R.)
Abstract	The goal of the CARUS1 project is to demonstrate the effective operation of a swarm of UAVs. The objective is to keep under surveillance a given set of points of interest where incidents (such as a fire) can arise. Each individual UAV operates in an autonomous manner and the decisions are taken by each aircraft in the air rather than on the ground, based on asynchronous communication between vessels. These local decisions impact the whole swarm behavior. It should be noted that we are not addressing formation flights; we are dealing with groups of UAVs the goal of which is to cooperatively achieve a common mission. CARUS relies on the research activities carried out at the Laboratoire Bordelais de Recherche en Informatique (LaBRI) in the domain of secure swarms of autonomous mobile communicating terminals. It both takes advantage of the results of this research and contributes to some of its activities, among which a PhD funded by the DGA (Direction Générale de l'Armement). CARUS uses $SCUAL^{2}$ - pronounce [skwal]- which is a swarm of five UAVs (fig. 1) acquired thanks to a funding by the $MIB^{3}$ Carnot. It also relies on the UAV and ground station expertise of the Fly-n-Sense company and the support of Thales in terms of program methodology and of software for ground visualization of the swarm operation. CARUS is a LaBRI project, conducted in the framework of the Albatros GIS (Groupement d'Intérêt Scientifique), with the support of the Région Aquitaine, its UAV Cluster and Bordeaux TechnoWest. The goal of this paper is to give an overview of the CARUS demonstrator. Its development has raised several major issues that not only relate to distributed algorithms and embedded systems, but also to regulatory rules and safety procedures. The key point is that the target platform is a swarm of autonomous vessels and not a single UAV; it must thus be dealt with as a whole. For instance, when a member of the swarm has to be landed for security reasons, the other UAVs must be moved away from the landing path so as to avoid collisions. These are new problems that did not exist when one single vessel was classically considered.
Starting Page	2003
Ending Page	2010
File Size	6291525
Page Count	8
File Format	PDF
ISBN	9781467300797
ISSN	21557578
e-ISBN	9781467300810
DOI	10.1109/MILCOM.2011.6127613
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-11-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Aircraft Heuristic algorithms Algorithm design and analysis Context Military aircraft Laboratories Aircraft propulsion Formal model Distributed algorithms Asynchronous communication Broadcast Retasking UAV swarm
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in