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<p class="MsoNormal">Name: <b>Gabriel Alexis Guijarro Reyes</b><o:p></o:p></p>
<p class="MsoNormal">Title: <b>A mixed reality testbed for design and validation of estimation and control strategies for unmanned systems research<o:p></o:p></b></p>
<p class="MsoNormal"><span style="mso-fareast-language:ES-MX">Abstract: <o:p></o:p></span></p>
<p class="MsoNormal"><b><span lang="EN" style="mso-fareast-language:ES-MX">"</span></b><b><span lang="EN" style="font-size:12.0pt;font-family:"Times New Roman",serif">Unmanned Aircraft Systems (UAS)</span></b><b><span lang="EN" style="font-size:12.0pt;font-family:"Times New Roman",serif;mso-fareast-language:ES-MX">
research and development groups validate their estimation and control strategies in simulations and real-life scenarios. However, various factors affect the time it takes to perform such tests as well as their quality, e.g., hardware malfunctions and physical
limitations of the testing equipment and environment.</span></b><b><span lang="EN" style="font-size:12.0pt;font-family:"Times New Roman",serif"> This project focuses on generating and integrating virtual autonomous vehicles with real prototypes into a mixed
reality space for evaluation of single and multi-agent UAS strategies.<o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span lang="EN" style="font-size:12.0pt;font-family:"Times New Roman",serif"><o:p> </o:p></span></b></p>
<p class="MsoNormal"><b><span lang="EN" style="font-size:12.0pt;font-family:"Times New Roman",serif">The calibration and alignment of the computer-generated world with respect to the inertial frame of the real world was accomplished based on the Umeyama algorithm.
</span></b><b><span lang="EN" style="font-size:12.0pt;font-family:"Times New Roman",serif;mso-fareast-language:ES-MX">Making use of an entity existing in both real and virtual worlds, it was found that the pose error in the mixed reality environment is always
kept below 10%.</span></b><b><span lang="EN" style="font-size:12.0pt;font-family:"Times New Roman",serif"><o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span lang="EN" style="font-size:12.0pt;font-family:"Times New Roman",serif;mso-fareast-language:ES-MX"><o:p> </o:p></span></b></p>
<p class="MsoNormal"><b><span lang="EN" style="font-size:12.0pt;font-family:"Times New Roman",serif;mso-fareast-language:ES-MX">A control strategy for enabling multiple virtual UAS for tracking a real ground vehicle was generated in the mixed reality environment.
In our tests, a specific flight formation around the target vehicle was achieved by the virtual agents. Additionally, the flight formation around the moving target can be commanded online by a human user. Ultimately, the development of this project resulted
in a modular solution that facilitates testing and evaluation of estimation and control strategies for autonomous agents, with the possibility of adaptation and expansion into different research domains.</span></b><b><span lang="EN" style="mso-fareast-language:ES-MX">"</span></b><b><span lang="EN" style="font-size:12.0pt;font-family:"Times New Roman",serif;mso-fareast-language:ES-MX"><o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span lang="EN" style="mso-fareast-language:ES-MX"><o:p> </o:p></span></b></p>
<p class="MsoNormal">Day/Time: <b>July 10th, 2020 @ 2:30pm</b><o:p></o:p></p>
<p class="MsoNormal" style="margin-left:.5in;text-indent:-.5in"><span style="mso-fareast-language:ES-MX">Connection information:
<o:p></o:p></span></p>
<p class="MsoNormal" style="margin-left:.5in;text-indent:-.5in"><span style="mso-fareast-language:ES-MX">https://teams.microsoft.com/l/meetup-join/19%3ameeting_OTIyMzNmYWMtNmNiMC00MThmLWFmNjYtOThhNmI5N2Q2YmVh%40thread.v2/0?context=%7b%22Tid%22%3a%2234cbfaf1-67a6-4781-a9ca-514eb2550b66%22%2c%22Oid%22%3a%22033eb82a-bcb5-47e9-a400-5e7c4b6e7564%22%7d<o:p></o:p></span></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Scott King<o:p></o:p></p>
<p class="MsoNormal">Chair<o:p></o:p></p>
<p class="MsoNormal">Department of Computing Sciences<o:p></o:p></p>
<p class="MsoNormal">Texas A&M University – Corpus Christi<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
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