COMP4DRONES - User contributions [en]

WP6-33

2023-03-16T10:49:16Z

Alm:

==Cloud-based simulation environment==
{|class="wikitable"
| ID|| WP6-33
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || A cloud-based simulation environment, providing simulation as a service
|-
| Input ||
|-
| Output ||
|-
| C4D building block ||
|-
| TRL || 5
|-
| Parent Building block || []
|-
| Contact || ludo at almende.org
|}

==Description==

The main toolchain developed within C4D for Almende is our cloud-based simulation platform. This platform is based on off-the-shelf open-source tools, integrated and provided as a simulation-as-a-service offering. The main development driver within the Comp4Drones project were the requirements of UC4Demo2: Single rover, multiple drones in an indoor environment, (e.g. smoke-simulation, point of interest, 3-D obstacles) Cloud hosting of the simulation for the project, and similar simulation objects. This development has led to our Asimovo commercial offering: [https://asimovo.com/ Asimovo website]

==Improvements==

Current state-of-the-art in robotic simulation is Gazebo, combined with ROS. This was used as the baseline simulation that we migrated to our cloud offering. However, we added to this the option to run many different simulators and infrastructure, for example: Airsim, Gazebo+ROS2, Plankton, etc. Another important addition to the cloud-based offering is the capability of still running hardware-in-the-loop, where actual hardware (at the user's premises) can work together with the simulations (which run in the cloud) Our cloud-based platform is capable of simulating multiple drones in the same environment, allowing testing and verification of scenarios in cooperation and conflict resolution.

==Validation==

WP6-33

2023-03-16T10:48:47Z

Alm:

==Cloud-based simulation environment==
{|class="wikitable"
| ID|| WP6-33
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || A cloud-based simulation environment, providing simulation as a service
|-
| Input ||
|-
| Output ||
|-
| C4D building block ||
|-
| TRL || 5
|-
| Parent Building block || []
|-
| Contact || ludo at almende.org
|}

==Description==

The main toolchain developed within C4D for Almende is our cloud-based simulation platform. This platform is based on off-the-shelf open-source tools, integrated and provided as a simulation-as-a-service offering. The main development driver within the Comp4Drones project were the requirements of UC4Demo2: Single rover, multiple drones in an indoor environment, (e.g. smoke-simulation, point of interest, 3-D obstacles) Cloud hosting of the simulation for the project, and similar simulation objects. This development has led to our Asimovo commercial offering: [https://asimovo.com/]

==Improvements==

Current state-of-the-art in robotic simulation is Gazebo, combined with ROS. This was used as the baseline simulation that we migrated to our cloud offering. However, we added to this the option to run many different simulators and infrastructure, for example: Airsim, Gazebo+ROS2, Plankton, etc. Another important addition to the cloud-based offering is the capability of still running hardware-in-the-loop, where actual hardware (at the user's premises) can work together with the simulations (which run in the cloud) Our cloud-based platform is capable of simulating multiple drones in the same environment, allowing testing and verification of scenarios in cooperation and conflict resolution.

==Validation==

WP6-33

2023-03-16T10:48:29Z

Alm:

==Cloud-based simulation environment==
{|class="wikitable"
| ID|| WP6-33
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || A cloud-based simulation environment, providing simulation as a service
|-
| Input ||
|-
| Output ||
|-
| C4D building block ||
|-
| TRL || 5
|-
| Parent Building block || []
|-
| Contact || ludo at almende.org
|}

==Description==

The main toolchain developed within C4D for Almende is our cloud-based simulation platform. This platform is based on off-the-shelf open-source tools, integrated and provided as a simulation-as-a-service offering. The main development driver within the Comp4Drones project were the requirements of UC4Demo2: Single rover, multiple drones in an indoor environment, (e.g. smoke-simulation, point of interest, 3-D obstacles) Cloud hosting of the simulation for the project, and similar simulation objects. This development has led to our Asimovo commercial offering: [[https://asimovo.com/]]

==Improvements==

Current state-of-the-art in robotic simulation is Gazebo, combined with ROS. This was used as the baseline simulation that we migrated to our cloud offering. However, we added to this the option to run many different simulators and infrastructure, for example: Airsim, Gazebo+ROS2, Plankton, etc. Another important addition to the cloud-based offering is the capability of still running hardware-in-the-loop, where actual hardware (at the user's premises) can work together with the simulations (which run in the cloud) Our cloud-based platform is capable of simulating multiple drones in the same environment, allowing testing and verification of scenarios in cooperation and conflict resolution.

==Validation==

WP4-10

2023-03-15T10:58:34Z

Alm:

==Cooperative Planner==
{|class="wikitable"
| ID|| WP4-10
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || Navigation goals, at Global-Planner level, shared among drones
|-
| Input || ROS TF/map data, shared among multiple robots
|-
| Output || ROS navigation goals, also shared among mutliple robots
|-
| C4D building block ||
|-
| TRL || 4
|-
| Parent Building block || []
|-
| Contact || Ludo Stellingwerff: ludo at almende.org
|}

==Description==

This component provides support for cooperation between drones and rovers, on a (global) planning level. By sharing a drone's plans, in a standardized manner, more optimal group behavior can be achieved, through a group planner component. By designing this group planner through multi-agent techniques, this planner can be distributed over multiple robots.

==Improvements==

In the research fields of game-theory, multi-agent systems, and service orchestration, several strategies for cooperation have been developed. Most of these strategies have not yet been applied within a robotic environment, nor has there been much focus on cooperating robots. An exception to this is the field of Robotic Soccer and similar competitions and challenges, which apply voting-based planning through shared playbooks and role-assignment. This component allows trying out such algorithms and strategies for any ROS-based system, by extending the navigation stack with a cooperative planner, on top of the current standard local and global planner.

==Validation==

The concept behind the Cooperative planner has been tested through the graduation work of Vibhav Kedege. He looked into the challenge of having multiple agents work on a shared goal (in this case an exploration mission). He compared the theoretical optimal global, shared information model with a model in which the agents can only communicate with physical nearby agents (=other drones) and looked at how well the reduced effectiveness can be recovered. This showcases how an inherently distributed task/mission can be achieved by cooperative drones, even without the need for global knowledge.
[[File: CooperativePlannerExample.png|thumb|upright 2|center|Example of cooperation between drones]]
You can find the thesis about this work at: [[https://repository.tudelft.nl/islandora/object/uuid:4442f8a3-29d8-463d-8b82-3a6755c37255 Thesis on drone cooperation]]

WP4-10

2023-03-15T10:56:33Z

Alm:

==Cooperative Planner==
{|class="wikitable"
| ID|| WP4-10
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || Navigation goals, at Global-Planner level, shared among drones
|-
| Input || ROS TF/map data, shared among multiple robots
|-
| Output || ROS navigation goals, also shared among mutliple robots
|-
| C4D building block ||
|-
| TRL || 4
|-
| Parent Building block || []
|-
| Contact || ludo at almende.org
|}

==Description==

This component provides support for cooperation between drones and rovers, on a (global) planning level. By sharing a drone's plans, in a standardized manner, more optimal group behavior can be achieved, through a group planner component. By designing this group planner through multi-agent techniques, this planner can be distributed over multiple robots.

==Improvements==

In the research fields of game-theory, multi-agent systems, and service orchestration, several strategies for cooperation have been developed. Most of these strategies have not yet been applied within a robotic environment, nor has there been much focus on cooperating robots. An exception to this is the field of Robotic Soccer and similar competitions and challenges, which apply voting-based planning through shared playbooks and role-assignment. This component allows trying out such algorithms and strategies for any ROS-based system, by extending the navigation stack with a cooperative planner, on top of the current standard local and global planner.

==Validation==

The concept behind the Cooperative planner has been tested through the graduation work of Vibhav Kedege. He looked into the challenge of having multiple agents work on a shared goal (in this case an exploration mission). He compared the theoretical optimal global, shared information model with a model in which the agents can only communicate with physical nearby agents (=other drones) and looked at how well the reduced effectiveness can be recovered. This showcases how an inherently distributed task/mission can be achieved by cooperative drones, even without the need for global knowledge.
[[File: CooperativePlannerExample.png|thumb|upright 2|center|Example of cooperation between drones]]
You can find the thesis about this work at: [[https://repository.tudelft.nl/islandora/object/uuid:4442f8a3-29d8-463d-8b82-3a6755c37255 Thesis on drone cooperation]]

WP4-10

2023-03-15T10:55:01Z

Alm:

==Cooperative Planner==
{|class="wikitable"
| ID|| WP4-10
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || Navigation goals, at Global-Planner level, shared among drones
|-
| Input || ROS TF/map data, shared among multiple robots
|-
| Output || ROS navigation goals, also shared among mutliple robots
|-
| C4D building block ||
|-
| TRL || 4
|-
| Parent Building block || []
|-
| Contact || ludo at almende.org
|}

==Description==

This component provides support for cooperation between drones and rovers, on a (global) planning level. By sharing a drone's plans, in a standardized manner, more optimal group behavior can be achieved, through a group planner component. By designing this group planner through multi-agent techniques, this planner can be distributed over multiple robots.

==Improvements==

In the research fields of game-theory, multi-agent systems, and service orchestration, several strategies for cooperation have been developed. Most of these strategies have not yet been applied within a robotic environment, nor has there been much focus on cooperating robots. An exception to this is the field of Robotic Soccer and similar competitions and challenges, which apply voting-based planning through shared playbooks and role-assignment. This component allows trying out such algorithms and strategies for any ROS-based system, by extending the navigation stack with a cooperative planner, on top of the current standard local and global planner.

==Validation==

The concept behind the Cooperative planner has been tested through the graduation work of Vibhav Kedege. He looked into the challenge of having multiple agents work on a shared goal (in this case an exploration mission). He compared the theoretical optimal global, shared information model with a model in which the agents can only communicate with physical nearby agents (=other drones) and looked at how well the reduced effectiveness can be recovered. This showcases how an inherently distributed task/mission can be achieved by cooperative drones, even without the need for global knowledge.
[[File: CooperativePlannerExample.png|thumb|upright 2|center|Example of cooperation between drones]]
You can find the thesis about this work at: [[https://repository.tudelft.nl/islandora/object/uuid:4442f8a3-29d8-463d-8b82-3a6755c37255|Thesis on drone cooperation]]

WP4-10

2023-03-15T10:52:05Z

Alm:

==Cooperative Planner==
{|class="wikitable"
| ID|| WP4-10
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || Navigation goals, at Global-Planner level, shared among drones
|-
| Input || ROS TF/map data, shared among multiple robots
|-
| Output || ROS navigation goals, also shared among mutliple robots
|-
| C4D building block ||
|-
| TRL || 4
|-
| Parent Building block || []
|-
| Contact || ludo at almende.org
|}

==Description==

This component provides support for cooperation between drones and rovers, on a (global) planning level. By sharing a drone's plans, in a standardized manner, more optimal group behavior can be achieved, through a group planner component. By designing this group planner through multi-agent techniques, this planner can be distributed over multiple robots.

==Improvements==

In the research fields of game-theory, multi-agent systems, and service orchestration, several strategies for cooperation have been developed. Most of these strategies have not yet been applied within a robotic environment, nor has there been much focus on cooperating robots. An exception to this is the field of Robotic Soccer and similar competitions and challenges, which apply voting-based planning through shared playbooks and role-assignment. This component allows trying out such algorithms and strategies for any ROS-based system, by extending the navigation stack with a cooperative planner, on top of the current standard local and global planner.

==Validation==

The concept behind the Cooperative planner has been tested through the graduation work of Vibhav Kedege. He looked into the challenge of having multiple agents work on a shared goal (in this case an exploration mission). He compared the theoretical optimal global, shared information model with a model in which the agents can only communicate with physical nearby agents (=other drones) and looked at how well the reduced effectiveness can be recovered. This showcases how an inherently distributed task/mission can be achieved by cooperative drones, even without the need for global knowledge.
[[File: CooperativePlannerExample.png|thumb|upright 2|center|Example of cooperation between drones]]

File:CooperativePlannerExample.png

2023-03-15T10:49:52Z

Alm:

WP4-10

2023-03-15T10:44:48Z

Alm: Add some more text

==Cooperative Planner==
{|class="wikitable"
| ID|| WP4-10
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || Navigation goals, at Global-Planner level, shared among drones
|-
| Input || ROS TF/map data, shared among multiple robots
|-
| Output || ROS navigation goals, also shared among mutliple robots
|-
| C4D building block ||
|-
| TRL || 4
|-
| Parent Building block || []
|-
| Contact || ludo at almende.org
|}

==Description==

This component provides support for cooperation between drones and rovers, on a (global) planning level. By sharing a drone's plans, in a standardized manner, more optimal group behavior can be achieved, through a group planner component. By designing this group planner through multi-agent techniques, this planner can be distributed over multiple robots.

==Improvements==

In the research fields of game-theory, multi-agent systems, and service orchestration, several strategies for cooperation have been developed. Most of these strategies have not yet been applied within a robotic environment, nor has there been much focus on cooperating robots. An exception to this is the field of Robotic Soccer and similar competitions and challenges, which apply voting-based planning through shared playbooks and role-assignment. This component allows trying out such algorithms and strategies for any ROS-based system, by extending the navigation stack with a cooperative planner, on top of the current standard local and global planner.

==Validation==

The concept behind the Cooperative planner has been tested through the graduation work of Vibhav Kedege. He looked into the challenge of having multiple agents work on a shared goal (in this case an exploration mission). He compared the theoretical optimal global, shared information model with a model in which the agents can only communicate with physical nearby agents (=other drones) and looked at how well the reduced effectiveness can be recovered. This showcases how an inherently distributed task/mission can be achieved by cooperative drones, even without the need for global knowledge.

Component repository

2023-03-15T10:08:13Z

Alm: Re-enable the WP6 tools of ALM, now they have their own pages.

This repository aims at providing common components usable in different application domains, in particular those covered by project use-cases.

The requirements for using a components will be listed, as well as a documentation on how to use it. The component itself will be hosted by the partner who provides it.

==Components list==

{| class="wikitable"
|ID
|Contributor
|Title
|-
|[[WP3-01]]
|IKERLAN
|Safety function - Pre-Certified SOM
|-
|[[WP3-02]]
|EDI
|Modular SoC-based embedded reference architecture
|-
|[[WP3-03]]
|BUT
|Sensor information algorithms
|-
|[[WP3-04]]
|HIB
|Computer Vision Components for drones
|-
|[[WP3-10]]
|IFAT
|Component for trusted communication establishment
|-
|[[WP3-13]]
|ENAC
|Paparazzi UAV
|-
|[[WP3-14_1]]
|ENSMA
|Collision avoidance and geo-fencing
|-
|[[WP3-14_2]]
|ENSMA
|Distributed control of multi-drone system
|-
|[[WP3-15_1]]
|ACORDE
|UWB based indoor positioning
|-
|[[WP3-15_2]]
|ACORDE
|Multi-antenna GNSS/INS based navigation
|-
|[[WP3-16]]
|SCALIAN
|EZ_Chains Fleet Architecture
|-
|[[WP3-19_1]]
|IMEC
|Hyperspectral payload
|-
|[[WP3-19_2]]
|IMEC
|Hyperspectral image processing

|-
|[[WP3-22]]
|UNIMORE
|Onboard Compute Platform Desing Methodology
|-
|[[WP3-24]]
|UNIVAQ
|Efficient digital implementation of controllers
|-
|[[WP3-26]]
|UWB
|Droneport: an autonomous drone battery management system
|-
|[[WP3-28]]
|UNISS
|Accelerator Design Methodology for OOCP
|-
|[[WP3-36_1]]
|UDANET
|Smart and predictive energy management system
|-
|[[WP3-36_2]]
|UDANET
|AI drone system modules
|-
|[[WP3-37]]
|Aitek
|Video and data analytics
|-
|[[WP4-2]]
|SCALIAN
|EZ_Land Precision landing

|-
|[[WP4-07]]
|ROT
|Run-Time Safety Checker
|-
|[[WP4-10]]
|ALM
|Cooperative Planner
|-
|[[WP4-14]]
|ALM
|Map Enhancement Service
|-
|[[WP4-15]]
|ALM
|Visual Analytics
|-
|[[WP4-16]]
|ACORDE
|Enhanced Navigation Software
|-
|[[WP4-17]]
|ACORDE
|Anchor&Tag firmware of the Indoor Positioning System
|-
|[[WP4-18]]
|TEKNE
|Transponder for drone-rover cooperation
|-
|[[WP4-20]]
|ALM
|Attractor-based Navigation
|-
|[[WP4-22]]
|ALM
|Shared Reference Frame
|-
|[[WP4-32]]
|SHERPA
|Dynamic control development for navigation and precision landing
|-
|[[WP4-33]]
|UNIVAQ
|Autonomy, cooperation, and awareness
|-
|[[WP4-36]]
|IMCS
|Autonomous Decision Making in Critical Situations
|-
|[[WP4-37]]
|IMCS
|Algorithms for Runtime Safety Monitoring
|-
|[[WP4-39]]
|HIB
|Simulated data aggregator supporting intelligent decision in computer vision components

|-
|[[WP5-02]]
|IKERLAN
|Security Management Toolchain

|-
|[[WP5-08]]
|ROT
|Lightweight Cryptography
|-
|[[WP5-09]]
|ABI
|Communication scheme for unified system management
|-
|[[WP5-05|WP5-05-TEK]]
|TEKNE
|LPWAN for identification, tracking, and emergency messages
|-
|[[WP5-11_ACO]]
|ACORDE
|Navigation system with anti-jamming and anti-spoofing features
|-
|[[WP5-16-AIT]]
|AIT
|Cryptographic algorithms adapted for drones
|-
|[[WP5-19_ACO]]
|ACORDE
|Robust communication for an improved Indoor Positioning System
|-
|[[WP6-01]]
|AIT
|Workflow
|-
|[[WP6-02]]
|AIT
|ThreatGet – Post- / Precondition
|-
|[[WP6-03]]
|AIT
|MoMuT Protocol Testing
|-
|[[WP6-09]]
|UWB
|DronePort Simulation Extensions for Gazebo
|-
|[[WP6-11]]
|Siemens
|Simcenter Amesim
|-
|[[WP6-12]]
|ENSMA
|MOSART, retro-engineering and analysis framework
|-
|[[WP6-13]]
|UNIMORE
|OODK
|-
|[[WP6-15]]
|UNISS
|MDC
|-
|[[WP6-16]]
|UNISS
|SAGE
|-
|[[WP6-17]]
|UNIVAQ
|HW/SW CO-DEsign of HEterogeneous Parallel dedicated SYstems (HEPSYCODE)
|-
|[[WP6-20]]
|ACORDE
|ESL embedded SW Design Environment (ESDE)
|-
|[[WP6-21]]
|ACORDE
|Indoor Positioning System Modelling&Analysis Framework (IPS-MAF)
|-
|[[WP6-22]]
|IKERLAN
|SelfTestTool
|-
|[[WP6-23]]
|IKERLAN
|AsyncCommsTool
|-
|[[WP6-P4R|WP6-24]]
|CEA
|Model driven engineering
|-
|[[WP6-25]]
|UNICAN
|S3D - Model-Driven Analysis and Design Framework
|-
|[[WP6-26]]
|UNICAN
|SoSIM - System-of-Systems Simulation & Performance Analysis
|-
|[[WP3-26|WP6-27]]
|SM
|DronePort design tool
|-
|[[WP6-30]]
|ALTRAN
|e-Handbook
|-
|[[WP6-32]]
|ALM
|ROS1 & ROS2 infrastructure/dev-ops
|-
|[[WP6-33]]
|ALM
|Cloud-based simulation environment
|-
|[[WP6-34]]
|UNIVAQ
|HEPSYCODE SystemC SIMulator Version 2.0 (HEPSIM2)
|}

WP6-33

2023-03-15T10:06:35Z

Alm: Initial text from early deliverables, will need to be updated to final level.

WP6-32

2023-03-15T10:04:48Z

Alm: Initial text from early deliverables, will need to be updated to final level.

==ROS1 & ROS2 infrastructure/dev-ops==
{|class="wikitable"
| ID|| WP6-32
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || A standard working environment for developing both for ROS and ROS2
|-
| Input ||
|-
| Output ||
|-
| C4D building block ||
|-
| TRL || 3
|-
| Parent Building block || []
|-
| Contact || ludo at almende.org
|}

==Description==

Providing a standard setup for the development of robotics using ROS1, ROS2 and MAVLink interfaces. Focus of this standard setup is on the interoperability between the two versions of ROS and external dependencies.

==Improvements==

Migration from ROS1 to ROS2 is not entirely without effort, as there are several fundamental technology changes between the versions. This holds for the communication layer, but also for the development tools, library dependencies and documentation. Through a bridge node it's already possible to have a ROS2 environment connecting and sharing messages with a ROS1 environment.

==Validation==

WP6-33

2023-03-15T10:03:53Z

Alm: Initial text from early deliverables, will need to be updated to final level.

==ROS1 & ROS2 infrastructure/dev-ops==
{|class="wikitable"
| ID|| WP6-33
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || A standard working environment for developing both for ROS and ROS2
|-
| Input ||
|-
| Output ||
|-
| C4D building block ||
|-
| TRL || 3
|-
| Parent Building block || []
|-
| Contact || ludo at almende.org
|}

==Description==

Providing a standard setup for the development of robotics using ROS1, ROS2 and MAVLink interfaces. Focus of this standard setup is on the interoperability between the two versions of ROS and external dependencies.

==Improvements==

Migration from ROS1 to ROS2 is not entirely without effort, as there are several fundamental technology changes between the versions. This holds for the communication layer, but also for the development tools, library dependencies and documentation. Through a bridge node it's already possible to have a ROS2 environment connecting and sharing messages with a ROS1 environment.

==Validation==

Component repository

2023-03-15T09:42:17Z

Alm: Re-enable the WP4 components of ALM, now they have their own pages.

This repository aims at providing common components usable in different application domains, in particular those covered by project use-cases.

The requirements for using a components will be listed, as well as a documentation on how to use it. The component itself will be hosted by the partner who provides it.

==Components list==

{| class="wikitable"
|ID
|Contributor
|Title
|-
|[[WP3-01]]
|IKERLAN
|Safety function - Pre-Certified SOM
|-
|[[WP3-02]]
|EDI
|Modular SoC-based embedded reference architecture
|-
|[[WP3-03]]
|BUT
|Sensor information algorithms
|-
|[[WP3-04]]
|HIB
|Computer Vision Components for drones
|-
|[[WP3-10]]
|IFAT
|Component for trusted communication establishment
|-
|[[WP3-13]]
|ENAC
|Paparazzi UAV
|-
|[[WP3-14_1]]
|ENSMA
|Collision avoidance and geo-fencing
|-
|[[WP3-14_2]]
|ENSMA
|Distributed control of multi-drone system
|-
|[[WP3-15_1]]
|ACORDE
|UWB based indoor positioning
|-
|[[WP3-15_2]]
|ACORDE
|Multi-antenna GNSS/INS based navigation
|-
|[[WP3-16]]
|SCALIAN
|EZ_Chains Fleet Architecture
|-
|[[WP3-19_1]]
|IMEC
|Hyperspectral payload
|-
|[[WP3-19_2]]
|IMEC
|Hyperspectral image processing

|-
|[[WP3-22]]
|UNIMORE
|Onboard Compute Platform Desing Methodology
|-
|[[WP3-24]]
|UNIVAQ
|Efficient digital implementation of controllers
|-
|[[WP3-26]]
|UWB
|Droneport: an autonomous drone battery management system
|-
|[[WP3-28]]
|UNISS
|Accelerator Design Methodology for OOCP
|-
|[[WP3-36_1]]
|UDANET
|Smart and predictive energy management system
|-
|[[WP3-36_2]]
|UDANET
|AI drone system modules
|-
|[[WP3-37]]
|Aitek
|Video and data analytics
|-
|[[WP4-2]]
|SCALIAN
|EZ_Land Precision landing

|-
|[[WP4-07]]
|ROT
|Run-Time Safety Checker
|-
|[[WP4-10]]
|ALM
|Cooperative Planner
|-
|[[WP4-14]]
|ALM
|Map Enhancement Service
|-
|[[WP4-15]]
|ALM
|Visual Analytics
|-
|[[WP4-16]]
|ACORDE
|Enhanced Navigation Software
|-
|[[WP4-17]]
|ACORDE
|Anchor&Tag firmware of the Indoor Positioning System
|-
|[[WP4-18]]
|TEKNE
|Transponder for drone-rover cooperation
|-
|[[WP4-20]]
|ALM
|Attractor-based Navigation
|-
|[[WP4-22]]
|ALM
|Shared Reference Frame
|-
|[[WP4-32]]
|SHERPA
|Dynamic control development for navigation and precision landing
|-
|[[WP4-33]]
|UNIVAQ
|Autonomy, cooperation, and awareness
|-
|[[WP4-36]]
|IMCS
|Autonomous Decision Making in Critical Situations
|-
|[[WP4-37]]
|IMCS
|Algorithms for Runtime Safety Monitoring
|-
|[[WP4-39]]
|HIB
|Simulated data aggregator supporting intelligent decision in computer vision components

|-
|[[WP5-02]]
|IKERLAN
|Security Management Toolchain

|-
|[[WP5-08]]
|ROT
|Lightweight Cryptography
|-
|[[WP5-09]]
|ABI
|Communication scheme for unified system management
|-
|[[WP5-05|WP5-05-TEK]]
|TEKNE
|LPWAN for identification, tracking, and emergency messages
|-
|[[WP5-11_ACO]]
|ACORDE
|Navigation system with anti-jamming and anti-spoofing features
|-
|[[WP5-16-AIT]]
|AIT
|Cryptographic algorithms adapted for drones
|-
|[[WP5-19_ACO]]
|ACORDE
|Robust communication for an improved Indoor Positioning System
|-
|[[WP6-01]]
|AIT
|Workflow
|-
|[[WP6-02]]
|AIT
|ThreatGet – Post- / Precondition
|-
|[[WP6-03]]
|AIT
|MoMuT Protocol Testing
|-
|[[WP6-09]]
|UWB
|DronePort Simulation Extensions for Gazebo
|-
|[[WP6-11]]
|Siemens
|Simcenter Amesim
|-
|[[WP6-12]]
|ENSMA
|MOSART, retro-engineering and analysis framework
|-
|[[WP6-13]]
|UNIMORE
|OODK
|-
|[[WP6-15]]
|UNISS
|MDC
|-
|[[WP6-16]]
|UNISS
|SAGE
|-
|[[WP6-17]]
|UNIVAQ
|HW/SW CO-DEsign of HEterogeneous Parallel dedicated SYstems (HEPSYCODE)
|-
|[[WP6-20]]
|ACORDE
|ESL embedded SW Design Environment (ESDE)
|-
|[[WP6-21]]
|ACORDE
|Indoor Positioning System Modelling&Analysis Framework (IPS-MAF)
|-
|[[WP6-22]]
|IKERLAN
|SelfTestTool
|-
|[[WP6-23]]
|IKERLAN
|AsyncCommsTool
|-
|[[WP6-P4R|WP6-24]]
|CEA
|Model driven engineering
|-
|[[WP6-25]]
|UNICAN
|S3D - Model-Driven Analysis and Design Framework
|-
|[[WP6-26]]
|UNICAN
|SoSIM - System-of-Systems Simulation & Performance Analysis
|-
|[[WP3-26|WP6-27]]
|SM
|DronePort design tool
|-
|[[WP6-30]]
|ALTRAN
|e-Handbook
|-
|[[WP6-34]]
|UNIVAQ
|HEPSYCODE SystemC SIMulator Version 2.0 (HEPSIM2)
|}

WP4-22

2023-03-15T09:40:41Z

Alm: Initial text from early deliverables, will need to be updated to final level.

==Shared reference frame==
{|class="wikitable"
| ID|| WP4-22
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || A generic solution to describe the location of drones at relative positions from each other
|-
| Input || SLAM & localization tools
|-
| Output || A location model
|-
| C4D building block ||
|-
| TRL || 4
|-
| Parent Building block || []
|-
| Contact || ludo at almende.org
|}

==Description==

Shared reference frame definition for in-door, GPS-denied, cluttered, unknown environment. Base station needs to share it's pose/position estimate with all other drones during operation. Localization challenge, when beacons are moving in the map-frame.

==Improvements==

Current state-of-the-art for such reference frames: ROS Movebase's odom in map frame updates. However, sharing such a reference frame is not common yet. Especially when GPS-denied environment. (ROS is mostly aimed at using Odom/IMU/Visual/LIDAR)

==Validation==

WP4-20

2023-03-15T09:35:43Z

Alm: Initial text from early deliverables, will need to be updated to final level.

==Attractor-based navigation==
{|class="wikitable"
| ID|| WP4-20
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || A generic solution for in-door navigation based on some central beacon
|-
| Input ||
|-
| Output || Localization data, ROS messages
|-
| C4D building block ||
|-
| TRL || 4
|-
| Parent Building block || []
|-
| Contact || ludo at almende.org
|}

==Description==

Navigation in a relative frame of reference, locked to a beacon on a (moving) base platform. We're going to explore navigation by radio beacons, like VOR, ILS for drones, e.g. BLE beacons, adding directional info through multiple beacons (data-separated). And we are going to explore angle-of-arrival options in Bluetooth.

==Improvements==

Current state-of-the-art is: AR tags with ranging based on size, Radio beacons using signal strength as ranging, in the aviation sector, there is the concept of VOR (radio-beacon with ranging based on echo delay)

==Validation==

WP4-15

2023-03-15T09:32:30Z

Alm: Initial text from early deliverables, will need to be updated to final level.

==Visual analytics==
{|class="wikitable"
| ID|| WP4-15
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || Smart user interface components
|-
| Input || ROS TF/map data, User-input
|-
| Output || rViz/Gazebo visualisation
|-
| C4D building block ||
|-
| TRL || 4
|-
| Parent Building block || []
|-
| Contact || ludo at almende.org
|}

==Description==

Visual analytics module for mission control and system monitoring. A hardware-in-the-loop simulation environment can be used as a base for such a GUI. Focus will be on providing heatmaps and similar visualisation, based on information obtained by the drones.

==Improvements==

Current state-of-the-art in ROS is rViz, with various plugins. Some Gazebo integration plugins exist to setup a hardware-in-the-loop infrastructure with real-life robots, however, there is still work necessary to produce a easily accessible standard setup. Gazebo can show various information overlays, it's interesting to check for the possibilities to add heat-maps, safe-routes, highlighting points of interest, etc. Areas that are not visited yet by drones, should be darkened. (Fog of war style)

==Validation==

WP4-14

2023-03-15T09:28:19Z

Alm: Initial text from early deliverables, will need to be updated to final level.

==Map Enhancement==
{|class="wikitable"
| ID|| WP4-14
|-
| Contributor || ALMENDE
|-
| Levels || Platform, Function
|-
| Require ||
|-
| Provide || 2d/3d Map data with added information: quality, heatmaps, semantic information
|-
| Input || SLAM output and pre-existing maps
|-
| Output || ROS TF/map data, shared among multiple robots
|-
| C4D building block ||
|-
| TRL || 4
|-
| Parent Building block || []
|-
| Contact || ludo at almende.org
|}

==Description==

There are various sources for the creation of information-rich maps/grids, which can be used for SLAM and navigation. This component explicitly focuses on a generic way of providing query-like access to this information, providing temporal, shared situational awareness. This is achieved by leveraging the current map meta-information (timestamps and frame ids), augmented by additional meta-information per map-layer, e.g. trustworthiness, resolution, capture-time-range, etc. Especially additional information on whether the information is based on predictors or real sensors is relevant. Using this extended meta-info, a query service is provided through which map-products can be obtained for usage in navigation and as input for SLAM algorithms. Input map information can come from a variety of sources, including multiple robots, existing 3d & BIM models, hardware-in-the-loop simulation, semantic maps, AI & ML trained models.

==Improvements==

Currently, there are some ROS libraries for map merging, however, there are only a few fully-functional solutions that aim at shared situational awareness at a map level. Furthermore, there are some experiments for an "environment descriptor", an approach for semantic maps. This component is aiming for a more generic, complete map enhancement service for seamless merging, enhancing, predicting maps, including more semantically rich logic.

==Validation==

WP4-10

2023-03-15T09:22:22Z

Alm: Initial text from early deliverables, will need to be updated to final level.

Component repository

2022-06-22T14:03:13Z

Alm: /* Components list */ Fix order

Component repository

2022-06-22T14:01:59Z

Alm: /* Components list */ Adding ALM's components

This repository aims at providing common components usable in different application domains, in particular those covered by project use-cases.

The requirements for using a components will be listed, as well as a documentation on how to use it. The component itself will be hosted by the partner who provides it.

==Components list==

{| class="wikitable"
|ID
|Contributor
|Title
|-
|[[WP3-01]]
|IKERLAN
|Safety function - Pre-Certified SOM
|-
|[[WP3-02]]
|EDI
|Modular SoC-based embedded reference architecture
|-
|[[WP3-03]]
|BUT
|Sensor information algorithms
|-
|[[WP3-04]]
|HIB
|Computer Vision Components for drones
|-
|[[WP3-10]]
|IFAT
|Component for trusted communication
|-
|[[WP3-13]]
|ENAC
|Paparazzi UAV
|-
|[[WP3-14_1]]
|ENSMA
|Collision avoidance and geo-fencing
|-
|[[WP3-14_2]]
|ENSMA
|Distributed control of multi-drone system
|-
|[[WP3-15_1]]
|ACORDE
|UWB based indoor positioning
|-
|[[WP3-15_2]]
|ACORDE
|Multi-antenna GNSS/INS based navigation
|-
|[[WP3-16]]
|SCALIAN
|EZ_Chains Fleet Architecture
|-
|[[WP3-19_1]]
|IMEC
|Hyperspectral payload
|-
|[[WP3-19_2]]
|IMEC
|Hyperspectral image processing
|-
|[[WP3-20]]
|MODIS
|Multi-sensor positioning
|-
|[[WP3-22]]
|UNIMORE
|Onboard Compute Platform Desing Methodology
|-
|[[WP3-24]]
|UNIVAQ
|Efficient digital implementation of controllers
|-
|[[WP3-26]]
|UWB
|Droneport: an autonomous drone battery management system
|-
|[[WP3-28]]
|UNISS
|Accelerator Design Methodology for OOCP
|-
|[[WP3-36_1]]
|UDANET
|Smart and predictive energy management system
|-
|[[WP3-36_2]]
|UDANET
|AI drone system modules
|-
|[[WP3-37]]
|Aitek
|Video and data analytics
|-
|[[WP4-2]]
|SCALIAN
|EZ_Land Precision landing
|-
|[[WP4-5]]
|SCALIAN
|AI detection for clearance
|-
|[[WP4-16]]
|ACORDE
|Enhanced Navigation Software
|-
|[[WP4-10]]
|ALM
|Cooperative Planner
|-
|[[WP4-14]]
|ALM
|Map Enhancement Service
|-
|[[WP4-15]]
|ALM
|Visual Analytics
|-
|[[WP4-17]]
|ACORDE
|Anchor&Tag firmware of the Indoor Positioning System
|-
|[[WP4-18_A]]
|TEKNE
|Drone-Rover Transponder
|-
|[[WP4-20]]
|ALM
|Attractor-based Navigation
|-
|[[WP4-22]]
|ALM
|Shared Reference Frame
|-
|[[WP4-32]]
|SHERPA
|Dynamic control development for navigation and precision landing
|-
|[[WP4-39]]
|HIB
|Simulated data aggregator supporting intelligent decision in computer vision components
|-
|[[WP4-42]]
|SCALIAN
|AI Stabilization
|-
|[[WP5-03]]
|SCALIAN
|EZ_Com Safe fleet communication
|-

|[[WP4-33]]
|UNIVAQ
|Autonomy, cooperation, and awareness
|-
|[[WP5-05_A]]
|TEKNE
|LP-WAN for UAV identification and monitoring
|-
|[[WP5-11_ACO]]
|ACORDE
|Navigation system with anti-jamming and anti-spoofing features
|-
|[[WP5-19_ACO]]
|ACORDE
|Robust communication for an improved Indoor Positioning System
|-
|[[WP6-P4R]]
|CEA
|Model driven engineering
|-
|[[WP6-ESDE]]
|ACORDE
|ESL embedded SW Design Environment (ESDE)
|-
|[[WP6-IPS-MAF]]
|ACORDE
|Indoor Positioning System Modelling&Analysis Framework (IPS-MAF)
|-
|[[WP6-17]]
|UNIVAQ
|HW/SW CO-DEsign of HEterogeneous Parallel dedicated Systems (HEPSYCODE)
|-
|[[WP6-34]]
|UNIVAQ
|HEPSYCODE SystemC SIMulator Version 2.0 (HEPSIM2)
|}