# UV System Architecture: Challenges and Evolution
## 2 UV System Architecture: Version 1  
The first version of the proposed architecture for the UV [20] is shown in Figure 1. These architectures divide the system into various subsystems. This version establishes the core of the architecture that will be modified according to the proof of concept and the change in the design. The base station subsystems could be broadly defined as follows:  
1. Communications (\"Comm\"): Protocols, UV identification, handling of data packets, and both input and output for each UV will have to be implemented. 2. Storage (\"DB/storage\"): The data collected by the UVs through the sensors. Depending on the application and computing requirement, it is possible that most of these data will be analyzed asynchronously. 3. Visualization (\"Visualization\"): The information needed to inform the user about the different data as soon as they are received and processed by the station. 4. Control/Synchronization (\"Control\"): Each of the station systems must have synchronization between, in addition to the need for real-time control over each UV. In the case of UVs, there are five subsystems, defined as follows:  
1. Power: Provides and maintains a stable power supply to ensure the operation of the other subsystems. The supply is provided by one or more batteries, which have a pre-set voltage. As we have several modules with different voltages, it is necessary to use voltage regulators. 2. Drive: Allows the UV to move in different fields (air, ground, etc.). This is thanks to mechanical components such as tires or propellers, in addition to motors with their controllers. 3. Communications (\"Comm\"): Establish a connection with the base and allow the reception and transfer of movement instructions and data. The communications device will vary according to costs, communications range, etc. Figure 1: UV System Architecture V1. 4. Sensors (\"Sensor\"): Depending on the application or task to be performed by the UV, several sensors or actuators are used. The sensors necessary for operation are not included in this subsystem (for example, an energy consumption sensor). 5. Processing: Controls the UV by synchronizing and controlling all other subsystems in real time. Many of the processes in other subsystems depend on processing information sent by the base station. This subsystem is usually a board with connections to the rest of the UV. The proposed architecture was validated with a proof of concept. Two vehicles and a base station, equipped with a UV communication repeater, were built (Figure 2). The UVs (blue and green boxes) of this implementation are shown next to the ground station (red box), which is connected to a PC. The UVs can be specifically classified as unmanned ground vehicles (UGVs), although they have also been called unmanned terrestrial vehicles (UTVs). Despite the different environmental conditions, the vehicles that have been used in planetary explorations (called rovers) have clear conceptual similarities, at least in terms of architecture. The objective of the complete system is to collect photo-graphic samples of a geographical area to be covered with the UGVs. Therefore, the complete system is composed of a sensor vehicle equipped with a camera, a vehicle that acts as a repeater, and the base station. This architecture generally allows the control of one or several UVs. This control of various UVs, specifically UAVs, can be observed in several previous works. In [21], a UAV with fixed routes was used to increase the range of the other UVs distributed throughout the area. In [22], the focus was the control of multiple UVs, while in [23], the focus was the control of several UVs starting from a mobile single point called the mothership. This proof of concept showed that it is possible to use the general architecture for building UVs, whether individuals or groups.