[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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The Dedicated Wireless Communication Device for Group of Unmanned Vehicles 249 case of the connection failure there is no possibility for cooperation therefore such model is usually only used for monitoring of the vehicles parameters. In the fig1.b a model allowing vehicles cooperation is presented. Each of the vehicles is communicating via each other using universal radio modem and PC class computer responsible for data encryption and implementation of the secure communication protocol. Such approach does not require central computer therefore its maximum range of operation is not limited as long as the cooperating objects are within reach of its own radio modems. Fig. 1. The idea of communication in the groups of unmanned vehicles. A) communication with the use of central ground base station. B) communication with use of local computers responsible for communication. The main disadvantage of such solution is the obligation of carrying the relatively heavy PC class computer only for communication purposes. It is well known that the PC computers are not as reliable as dedicated solutions therefore it was decided to design a communication device that allows unmanned vehicles transparent communication without the need for installing PC. A schema of such model is presented in the fig. 2. During design phase of the dedicated secure radio communication device presented in the article some assumptions about the application scenarios were made. First assumption is that a pair of devices that are willing to communicate with each other are required to have a common symmetric key used during authorization and attempting connection processes. It is allowed that more devices, in some cases even the whole group are using the same symmetric key during the process of authorization. Single communication device can store multiple keys. However only one key per remote connection link is stored. The limitation’s origin is the fact that before application the communication devices are configured using cable connection. During configuration an authorization key is installed along with information about the devices that belong to the group and common group authorization key.
250 K. Daniec et al. Fig. 2. Application of the presented miniature communication device allows for communication without any PC class devices onboard which allows significant miniaturization of the vehicles and improves the reliability of the solution at the same time It was assumed that the communication device has to encrypt all of the exchanged data. Each of the packets should be numbered in order to eliminate the situation that due to attacker’s actions some of the packets changed their order or were multiplied. 4 Physical Layer During design phase of the development of the presented in the article device a set of requirements were made. One of the main requirements about physical layer were miniature size and weight and transmission channel for exchange telemetry and sending orders. The channel has to be characterized by a wide range but not necessary high throughput. In order to satisfy the requirements there was designed a miniature radio frequency emitter presented in the fig. 3. It consists of transceiver designed for frequencies up to 1 GHz supported by a . The final frequency of the device was set to 869.525 MHz, right in the middle of the unlicensed ISM 869 MHz. The modulation is GFSK with frequency deviation plus/minus 30 kHz. The throughput of the channel was defined as 64kBaud It is a compromise between long range with the maximum 500mW power and high throughput. An additional limitation on throughput was the requirement of two way communication. The device is working in the Listen-Before-Talk (LBT) mode therefore it is possible to send data even when the channel is occupied in more than 10%. GFSK modulation is based on probing the receiver frequency. However the change is not a step change but rather mild. Therefore the signal spectrum is narrower. Transmission of the ‘0’ symbol is acquired by sending a signal at the frequency Fc-Fdev (middle frequency minus deviation), while the ‘1’ signal is the opposite Fc+Fdev. Transmitted data is divided into packets. Each packets length is a multiple of one byte.
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Studies in Computational Intelligen
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Aleksander Nawrat · Zygmunt Kuś E
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“In God We Trust, All others we o
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VIII Preface valuable information i
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Contents Part I: Design of Object D
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Contents XIII Technology Developmen
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XVI List of Contributors Adam Czorn
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XVIII List of Contributors Henryk M
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XX List of Contributors Józef Wron
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2 Design of Object Detection, Recog
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4 A. Babiarz et al. 1 Introduction
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6 A. Babiarz et al. The description
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8 A. Babiarz et al. a) b) Fig. 5. T
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10 A. Babiarz et al. o o o “micvo
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12 A. Babiarz et al. a) b) Fig. 7.
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14 A. Babiarz et al. • The camera
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18 A. Babiarz et al. a) b) Fig. 11.
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Recognition and Location of Objects
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54 P. Demski et al. implementing su
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96 G. Bieszczad et al. effectivenes
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100 G. Bieszczad et al. Table 1. No
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114 G. Bieszczad et al. [11] Krupi
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116 D. Bereska et al. Presented in
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118 D. Bereska et al. Fig. 2. Image
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120 D. Bereska et al. Fig. 4. Ortho
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Omnidirectional Video Acquisition D
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Part III Design of Vision Based Con
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Vision System for Group of Mobile R
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A Distributed Control Group of Mobi
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184 D. Bereska et al. 4.1 Mechanica
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186 D. Bereska et al. 4.1.3 Open-Lo
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Probabilistic Approach to Planning
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Probabilistic Approach to Planning
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344 Conclusions Control algorithms
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[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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