Multi-layer Architecture for Trajectory Replanning and Intelligent plan eXecution (MATRIX)

Scientific Systems Co. Inc. and University of California at Berkeley propose to develop, test and implement a Multi-layer Architecture for Trajectory Replanning and Intelligent plan eXecution (MATRIX) system for fixed and rotary wing Unmanned Aerial Vehicle (UAV). The MATRIX system architecture will consist of several layers including the on-line path planning and trajectory generation layers, and vision-based obstacle detection and identification that provides the obstacle information nedded for path replanning. The architecture also includes the Failure Detection and Identification (FDI) system and Adaptive Reconfigurable Controller (ARC), along with a module for on-line calculation of Achievable Dynamic Performance (ADP) which determines the maximum performance that can be achieved post-failure with the available control authority. In order to develop, test and implement the MATRIX system, the following tasks will be carried out: (i) Develop obstacle avoidance algorithms and implement them using the RMax helicopter simulator under Matlab/Simulink. %the RIPTIDE tool; (ii) Develop vision-based obstacle detection algorithms and implement them under Matlab/Simulink; (iii) Integrate and test obstacle detection and obstacle avoidance algorithms under suitable simulation environment such as RIPTIDE and MultiUAV simulation tool; and (iv) Develop the MATRIX software tool and pursue its commercialization.