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The Boeing company proposes a personal transportation system,
or PTS, which provides point to point transportation
for individuals using a number of taxi
like personal aerial vehicles.
Our goal in model based embedded in robotic systems
is to have humans and robots collaborate together
to achieve high level goals defined by human operators.
We demonstrate the capability of our architecture
on a personal transportation system scenario,
where the personal aerial vehicle takes off
from Provincetown and heads to Bedford.
On the way, there are multiple nearby airports,
and each airport has a no fly zone that must be avoided.
The user inputs the trip specification
by highlighting start goal, alternative landing
sites, and no fly zones using the graphical user interface.
The pike module calculates the corresponding visibility graph
and the shortest path from the start to the goal.
If the remaining fuel capacity is not sufficient,
pike generates the path to the closest alternative landing
site.
The generated path is communicated
to Sulu and the users through the graphical interface.
Here, the GUI updates the real time location
of the plane while in the corner is a flight simulation using
X-Plane.
A personal aerial vehicle takes off from Provincetown Municipal
Airport.
The architecture automatically navigates the vehicle
to the user specified destination.
The system is also capable of adapting
to a changing environment.
For example, if a storm approaches the vehicle,
it will automatically replan the path to avoid the storm.
Of course, the replanned path respects all the no fly zones.
The system keeps updating the plan
based on the current best available information.
This demonstration shows the capabilities
of our autonomous system in providing safe and optimal
paths in a dynamic environment.