Tyler Gwin

Jithin Jagannath, Anu Jagannath, Justin Henney et al.

The proliferation of wireless devices and their ever increasing influence on our day-to-day life is very evident and seems irreplaceable. This exponential growth in demand, both in terms of the number of devices and Quality of Service (QoS) had spawned the concept of cross-layer optimization several years ago. The primary goal of the cross-layer approach was to liberate the strict boundary between the layers of the traditional Open Systems Interconnection (OSI) protocol stack. The initial decade focused on establishing the theoretical feasibility of this revolutionary concept and gauging the effectiveness and limits of this idea. During the next phase, the advent of software defined radios (SDR) accelerated the growth of this domain due to its added flexibility. Yet, there has been a gaping abyss between solutions designed in theory and ones deployed in practice. To establish this, we first present an elaborate survey of the cross-layer protocol stack literature. Next, we briefly discuss how a commercial off-the-shelf (COTS), low SWaP (Size, Weight, and Power) embedded SDR (e-SDR) was transformed into a standalone, fieldable transceiver. Thereafter, we provide the software design ethos that focuses on efficiency and flexibility such that the optimization objectives and cross-layer interactions can be reconfigured rapidly. To demonstrate our claims, we provide results from extensive outdoor over-the-air experiments in various settings with up to 10-node network topologies. The results from the field trials demonstrate high reliability, throughput, and dynamic routing capability. To the best of our knowledge, this is the first time in literature, a COTS e-SDR has been leveraged to successfully design a cross-layer optimized transceiver that is capable of forming an ad hoc network that provides high throughput and high reliability in a ruggedized, weatherized, and fieldable form factor.

Nicholas Polosky, Tyler Gwin, Sean Furman et al.

Interest in unmanned aerial system (UAS) powered solutions for 6G communication networks has grown immensely with the widespread availability of machine learning based autonomy modules and embedded graphical processing units (GPUs). While these technologies have revolutionized the possibilities of UAS solutions, designing an operable, robust autonomy framework for UAS remains a multi-faceted and difficult problem. In this work, we present our novel, modular framework for UAS autonomy, entitled MR-iFLY, and discuss how it may be extended to enable 6G swarm solutions. We begin by detailing the challenges associated with machine learning based UAS autonomy on resource constrained devices. Next, we describe in depth, how MR-iFLY's novel depth estimation and collision avoidance technology meets these challenges. Lastly, we describe the various evaluation criteria we have used to measure performance, show how our optimized machine vision components provide up to 15X speedup over baseline models and present a flight demonstration video of MR-iFLY's vision-based collision avoidance technology. We argue that these empirical results substantiate MR-iFLY as a candidate for use in reducing communication overhead between nodes in 6G communication swarms by providing standalone collision avoidance and navigation capabilities.

Jithin Jagannath, Anu Jagannath, Sean Furman et al.

Unmanned Aerial Systems (UAS) are being increasingly deployed for commercial, civilian, and military applications. The current UAS state-of-the-art still depends on a remote human controller with robust wireless links to perform several of these applications. The lack of autonomy restricts the domains of application and tasks for which a UAS can be deployed. Enabling autonomy and intelligence to the UAS will help overcome this hurdle and expand its use improving safety and efficiency. The exponential increase in computing resources and the availability of large amount of data in this digital era has led to the resurgence of machine learning from its last winter. Therefore, in this chapter, we discuss how some of the advances in machine learning, specifically deep learning and reinforcement learning can be leveraged to develop next-generation autonomous UAS. We first begin motivating this chapter by discussing the application, challenges, and opportunities of the current UAS in the introductory section. We then provide an overview of some of the key deep learning and reinforcement learning techniques discussed throughout this chapter. A key area of focus that will be essential to enable autonomy to UAS is computer vision. Accordingly, we discuss how deep learning approaches have been used to accomplish some of the basic tasks that contribute to providing UAS autonomy. Then we discuss how reinforcement learning is explored for using this information to provide autonomous control and navigation for UAS. Next, we provide the reader with directions to choose appropriate simulation suites and hardware platforms that will help to rapidly prototype novel machine learning based solutions for UAS. We additionally discuss the open problems and challenges pertaining to each aspect of developing autonomous UAS solutions to shine light on potential research areas.