Situational Awareness Demo

This repository will hold the code and documentation for the year one situational awareness demonstrator. The demonstrator consists for four data flows:

1. A user will be wearing a Vive Pro headset.
2. The location and orientation of the user's VR headset will be tracked via OptiTrack.
3. A drone will be flying around the space being localized by OptiTrack.
4. On the drone will be a BLEES environmental sensor. It will send lux readings to the MQTT broker
5. Unity and Drone Control will retrieve OptiTrack localization information via VRPN.

Using these data flows:

1. The drone will fly around collecting lux data (in a sweep or random walk) while avoiding the user.
2. The user will walk around the space wearing the AR/VR headset. The headset will visualize both the drone and lux data collected by the light sensor.

This demo shows exhibits several key components of CONIX:

1. Drone control and obstacle avoidance
2. The coordination of multiple localization systems into a single coordinate space
3. The ability to visualize data in VR which simulates data that might be found in a situation calling for enhanced perception/awareness
4. The standardization of data formats across multiple systems and platforms from different research groups in CONIX.

https://drive.google.com/drive/folders/1y4srPMSgTwh8RA6ZHlJo0fPBpop5tfqM?usp=sharing