This work package consists of the various steps of integration of all sub-systems, the systems level evaluation and final demonstration. The final goal is to demonstrate a fully autonomous multi-robot mission in a city-like environment. The different steps of integration and verifications are listed in the WP table above.
ETHZ will take the lead in this work package. However, this work package will generate the required strong interaction between the partners.
WP5.1: Integration of micro helicopter system (Integration week 1)
During the first integration week, a first version of the micro-helicopter system (WP1/ATG) will be integrated with the vision-based flight stabilization (WP2/ETHZ). This will create a strong interaction between the academic teams (ETHZ-CVG and ETHZ-ASL) and the industrial partner (ATG), providing a valuable insight into the capabilities of the helicopter. Furthermore, all further system development will rely on the performances of the subsystems integrated in this task. As a result, one objective of this integration week will be to deliver a robust and stable system, reliable enough to serve as a basis for the other tasks and work packages.
WP5.2: Evaluation of single helicopter navigation (Integration week 2)
In the second integration week, some of the more complex subsystem should reach enough maturity to be integrated onto the platform. Our aim is to bring together the platform (WP1/ATG), the vision-based obstacle avoidance (WP2/ETHZ-ASL) a preliminary version of the vision-based SLAM (WP2/ETHZ-CVG) and to evaluate the GSM based communication (WP3/CSEM) systems between helicopters and between the helicopter and the ground station.
At this stage of the project, all the partners should have enough visibility to start designing the final system. To this end it is also expected that preliminary demonstrations of the sub-systems developed in WP4 (multi-robot coordination) will be provided by TUC.
WP5.3: Evaluation of coordinated multi-helicopter navigation (integration week 3)
During the final integration week, all sub-systems will be brought together and integrated. This includes the final version of the helicopter system (WP1/ATG), an extended version of the vision-based navigation and mapping (WP2/ETHZ), the GSM-based communication system (WP3/CSEM), and the required components of the multi-MAV distributed control system (WP4/TUC). The objective of this integration week is to come-up with both a completed demonstrator and an implementation of a demonstration scenario.
In this technology integration project, a strong focus is put on the development of a demonstrator and of a representative demonstration. Two demonstrations are planned: The first demonstrated system will concentrate on the fully autonomous navigation of a single robot, whereas the second demonstration will present coordinated multi-helicopter navigation.