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wisar:slidemod [2014/08/11 19:48] (current)
tmburdge created
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 +== Sliding Autonomy Modrator Tool ==
  
 +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.
 +
 +== Plugin to Real Interface (C++) ==
 +=== Input/​Output ===
 +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)
 +
 +=== Functions to be implemented ===
 +* 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
 +
 +== Simulation Tool (C#) ==
 +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)
 +
 +=== Functions to be implemented ===
 +* 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
 +
 +== Current To Do List ==
 +
 +* 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
 +* 100x100 cells for map
 +* 24x24 cell size
 +* 12m/s flight speed (and accelerate)
wisar/slidemod.txt ยท Last modified: 2014/08/11 19:48 by tmburdge
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