Common parts Aditya & Yves. SupervisorPlannerActiveIncoming Primary Screen Secondary Screen...

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Transcript of Common parts Aditya & Yves. SupervisorPlannerActiveIncoming Primary Screen Secondary Screen...

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Common parts Aditya & Yves Slide 2 SupervisorPlannerActiveIncoming Primary Screen Secondary Screen Control Panel Status Panel Time Bar Mission Time Slide 3 SupervisorPlannerActiveIncoming Primary Screen Secondary Screen Control Panel Status Panel Time Bar Task List? Mission Time Ground Slide 4 Supervisor Slide 5 Vehicle Specialist Slide 6 PlannerActiveIncoming Primary Screen Secondary Screen B H B 3 4 Supervisor ! 1 WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn Launch WOOWP-1 Active Incoming ! Launching the relief UAV 00h17mn37s Bat 8mn00s 15.5 m 20 10 GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x Bat Incoming UAV 22mn Launch 0m 10 -10 GPS ! Swap D A B C BC D Ground 3 4 5 2 1 B C D A Slide 7 PlannerActiveIncoming Primary Screen Secondary Screen B H B 3 4 Supervisor ! 1 WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn Launch WOOWP-1 Active Incoming ! Launching the relief UAV 00h17mn37s Bat 8mn00s 15.5 m 20 10 GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x Bat Incoming UAV 22mn Launch 0m 10 -10 GPS ! Swap D A B C BC D Ground Launch? Yes No 3 4 5 2 1 B C D A Slide 8 PlannerActiveIncoming Primary Screen Secondary Screen B H B Supervisor ! 1 WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn WP-1Hold ! BAT Active Incoming ! 3 4 00h17mn37s Bat 6mn00s 15.5 m 20 10 GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x Bat Incoming UAV 20mn 0m 10 -10 GPS ! Swap Launch D A B C BC D Ground 3 4 5 2 1 B C D A Slide 9 Planner Slide 10 Planning Specialist Slide 11 ActiveIncoming Primary Screen B H B Supervisor 4 2 1 3 ! 1 WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Active Planner WPTask 0 Take Off Altitude 10 m 1Hover 3 min 2Altitude 20 m 3Hover 3 min 4Alt 35m 5Hover 2mn X X X X X X Plan Control Add WP Altitude Speed Hover Hostage Demine Take Off Go Home 5 00h17mn37s Bat 6mn00s 15.5 m 20 10 GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x D A B C BC D Ground Slide 12 ActiveIncoming Primary Screen B H B Supervisor 4 2 1 3 WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Active Planner Plan Control Add WP Altitude Speed Hover Hostage Demine Take Off Go Home 00h17mn37s Bat 6mn00s 15.5 m 20 10 GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x WPTask 1Hover 3 min 2Altitude 20 m 3Hover 3 min 4Alt 35m 5Hover 2mn X X X X X 5 ! 1 D A B C Inserting a waypoint -right click on map -click in WP table -click on top right button Inserting a waypoint -right click on map -click in WP table -click on top right button BC D Ground Add WP Slide 13 ActiveIncoming Primary Screen B H B Supervisor 4 2 1 3 WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Active Planner Plan Control Add WP Altitude Speed Hover Hostage Demine Take Off Go Home 00h17mn37s Bat 6mn00s 15.5 m 20 10 GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x WPTask 1Hover 3 min 2Altitude 20 m 3Hover 3 min 4Alt 35m 5Hover 2mn 6 X X X X X X 6 5 ! 1 D A B C Drag/Drop Modifiers BC D Ground Slide 14 Pilot/Manual Control Slide 15 Imaging Specialist Slide 16 PlannerIncoming Primary Screen Secondary Screen 3 4 H B 4 5 ! 1 3 1 2 Manual Control & Flight WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission 0 90 Preset Views Active Supervisor 0 90 45 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x BC D Plan Control User Centered Control Scheme: -viewpoint: mouse -UV position: keyboard User Centered Control Scheme: -viewpoint: mouse -UV position: keyboard Change camera view: Click and Drag (does not stops plan) Change camera view: Click and Drag (does not stops plan) Ground Slide 17 PlannerIncoming Primary Screen Secondary Screen 3 4 H B 4 5 ! 1 3 1 2 Manual Control & Flight WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission 0 90 Preset Views Active Supervisor 0 90 45 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x BC D Plan Control User Centered Control Scheme: -viewpoint: mouse -UV position: keyboard User Centered Control Scheme: -viewpoint: mouse -UV position: keyboard KEYBOARD CONTROL A: strafe left D: strafe right W: forward S: backward Q: altitude UP Z: altitude DOWN (stops plan) KEYBOARD CONTROL A: strafe left D: strafe right W: forward S: backward Q: altitude UP Z: altitude DOWN (stops plan) Ground Slide 18 PlannerIncoming Primary Screen Secondary Screen 3 4 H B 4 5 ! 1 3 1 2 Tagging Mines and Vehicle WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission 0 90 Preset Views Active Supervisor 0 90 45 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x BC D Plan Control Ground Slide 19 Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! 1 3 1 2 Tagging a Mine: Right click on map Tagging a Mine: Right click on map 0 90 Preset Views Tag Mine? Yes No 0 90 45 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission BC D Plan Control Ground Slide 20 Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! 1 3 1 2 Mine(s) Tagged 0 90 0 45 Preset Views 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission BC D Plan Control Ground Slide 21 Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! 1 3 1 2 Tagging guards: Right click on map Tagging guards: Right click on map 0 90 0 45 Preset Views 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x Tag Guards? Yes No WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission BC D Plan Control Ground Slide 22 Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! 1 3 1 2 Guard Tagged 0 90 0 45 Preset Views 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission BC D Plan Control Ground Slide 23 Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! 1 3 1 2 Tracking guards 0 90 0 45 Preset Views 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x Track Guards? Yes No WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission BC D Plan Control Ground Slide 24 Planner Active Incoming Primary Screen Secondary Screen 3 4 Supervisor H B 4 5 ! 1 3 1 2 Guards are being tracked (stops plan) Guards are being tracked (stops plan) 0 90 0 45 Preset Views 00h17mn37s D A B C Bat 6mn00s 15.5 m 20 10 GPS Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission Plan Control Ground WP-3HoverWP-4Alt 35mWP-5 BC D Tr. Guards Slide 25 Ground Monitoring Slide 26 PlannerActiveIncoming Primary Screen B H ZoomZoom B 4 5 Hold Commandos 2 1 3 WP-BHoldWP-CHoldWP-D tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn Ground Unit WPTime A Arrive t 1:00 Depart t 0:40 B Arrive t + 0:30 Depart t + 2:00 C Arrive t + 2:45 Depart t + 3:40 D Arrive t + 6:00 Depart t + 8:45 Add WP B A D C Ground Supervisor X X X X Assault BC D D A B C Plan Control Danger of being Detected by the Guards 00h17mn37s Phase 2 Phase 1 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x Slide 27 H B 4 5 ! 2 1 3 1 Slide 28 3 3 3 15.5m 20 10 ! BAT ! WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn 3 3 ! 6 X 5 D 3 Slide 29 WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn WP-1Hold ! BAT Active Incoming WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn Mission WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Mission WP-1Hold Incoming Slide 30 Plan Control Altitude Speed Hover Hostage Demine 0 90 0 45 Preset Views Slide 31 Phase 2 Phase 1 GPS Locked Status Panel Bat 8mn00s 15.5 m 20 10 GPS 1 Sam: Verify GPS x 2 RJ: Edit Obstacles x 3 RJ: Comman- do Plan 4 Abe: Cam off x Bat Incoming UAV 22mn Swap No Lock Launch 0m 10 -10 GPS ! Slide 32 Bat Incoming UAV 22mn Launch 0m 10 -10 GPS ! Swap D A B C D A B C Slide 33 PlannerActiveIncoming Primary Screen Secondary Screen B H ZoomZoom B 3 4 Bat 8mn00s GPS Locked Supervisor Bat GPS 0m 10 -10 Incoming UAV 22mn 4 5 Swap No Lock ! ! 2 1 3 1 Active UAV WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn Launch WOOWP-1 Active Incoming ! Launch Launching the relief UAV 15.5m 20 10 00h17mn37s Slide 34 PlannerActiveIncoming Primary Screen Secondary Screen B H ZoomZoom B Bat 5mn30s GPS Locked Supervisor Bat GPS 35m 50 30 Incoming UAV 19mn30 4 5 SwapLaunch No Lock ! ! 2 1 3 1 Active UAV WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn WP-1Hold ! BAT Active Incoming ! 3 4 15.5m 20 10 00h17mn37s Slide 35 ActiveIncoming Primary Screen B H ZoomZoom B Bat 5mn30s GPS Locked Supervisor 4 ! 2 1 3 1 Active UAV WP-3HoverWP-4Alt 35mWP-5 tt-1mnt+1mnt+2mnt+3mnt+4mnt+5mnt+6mn ! BAT Active Planner WPTask 0 Take Off Altitude 10 m 1Hover 3 min 2Altitude 20 m 3Hov