This module is a plugin to the BYU HCMI lab's UAV Ground Control System (yet unnamed) interface that enables the UAV operator to manage UAV path planning autonomy using Sliding Autonomy. It provides real-time feedback to the user's what if path planning inquiries, so the user can choose the automatically generated path he/she approves and assign it to the UAV.

A simulation module is included to demonstrate how the tool works and also for performing user studies.

Input Parameters:

• Width, height, and matrix representing overall probability distribution map
• (optionally) task-difficulty map

Output Parameters:

• Width, height, and matrix representing probability distribution map
• (optionally) task-difficulty map
• Starting position in (x,y) coordinates
• (Optionally) Ending position in (x,y) coordinates
• Duration (in seconds)
• UAV type: Fix-wing or Copter
• Detection type: fixed amount (e.g., 5), fixed amount in percentage (e.g., 25% of original, takes 4 times to clear), fixed percentage (e.g., 50%, always 50% of the current amount)

• Plugin layer to existing interface
• Request probability distribution from a repository
• Update probability distribution in repository
• Request task-difficulty map from a repository
• Draw probably map using color map
• User specify UAV parameters (UAV type, Detection type, etc.)
• User specify search region (rectangular and can rotate)
• Compute matrix representing search region probability map
• User specify starting point (can drag and move, snap to grid), compute (x,y) coordinates wrt. matrix
• User specify ending point (can drag and move, snap to grid), compute (x,y) coordinates wrt. matrix
• Slider with minimum 1 maximum 3600 (seconds)
• Slider maximum decreases as previous paths planned uses up the total 3600 seconds
• As slider moves, periodically send request to IPPA to plan path (0.5 second intervals and 1 second duration change?)
• Remember paths already planned to reduce computation and network traffic.
• Draw path planned (as slider moves, remove previous path and draw new one)
• Keep approved path waypoints
• Use ending point from previous approved path as starting point for next segment
• Button for user to approve path for current segment.
• Field Trial
• Write Field Robotics paper

Input Parameters:

• Matrix representing probability distribution map
• (optionally) task-difficulty map
• Path returned from IPPA (a list of waypoints in (x,y) coordinates)

Output Parameters:

• Width, height, and matrix representing probability distribution map
• (optionally) task-difficulty map
• Starting position in (x,y) coordinates
• (Optionally) Ending position in (x,y) coordinates
• Duration (in seconds)
• UAV type: Fix-wing or Copter
• Detection type: fixed amount (e.g., 5), fixed amount in percentage (e.g., 25% of original, takes 4 times to clear), fixed percentage (e.g., 50%, always 50% of the current amount)

• Load probability distribution map
• Load task-difficulty map
• Draw probably map using color map
• User specify UAV parameters (UAV type, Detection type, etc.)
• User specify starting point (can drag and move, snap to grid), compute (x,y) coordinates wrt. matrix
• User specify ending point (can drag and move, snap to grid), compute (x,y) coordinates wrt. matrix
• Slider with minimum 1 maximum 3600 (seconds)
• Slider maximum decreases as previous paths planned uses up the total 3600 seconds
• As slider moves, periodically send request to IPPA to plan path (0.5 second intervals and 1 second duration change?)
• Remember paths already planned to reduce computation and network traffic.
• Draw path planned (as slider moves, remove previous path and draw new one)
• Keep approved path waypoints
• Use ending point from previous approved path as starting point for next segment
• Button for user to approve path for current segment.
• Run user study and collect data
• For user study
  • Log everything.
  • Select test maps (bi-modal with overlapping and complex)
  • Design training materials and training scenarios
  • Enable fixed flight patterns (lawnmower pattern, grid spiral pattern)
  • Count-down timer to inform user of how much time is left (total 5 minutes)
  • At the end show how many objects are collected.
  • Manually set waypoints (in grid)
  • Record task completion time.
  • Record number of mouse clicks.
  • Secondary task (recognizing audio signals of call signs).
  • Record secondary task performance.
  • Demonstrate fully automatically planned path and fly UAV accordingly.
• Write HRI paper

• Manipulate terrain height map at run-time.
• Color map terrain height map at run-time.
• Export Unity 3D app and see.
• Research how to include Unity in C# apps.

• Load DistMap to memory
• Load DiffMap to memory
• Display DiffMap
• Display DistMap
• Vacuum as UAV flies
• Allow manual flights
• Allow flight patterns
• Slider for resolution
• Slider for flight duration
• Network call to server
• 100×100 cells for map
• 24×24 cell size
• 12m/s flight speed (and accelerate)