Multi-UAV control testbed for persistent UAV presence: ROS GPS waypoint tracking package and centralized task allocation capability

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A system of unmanned aerial vehicles (UAVs) can be used to provide uninterrupted service to customers by handing the mission from a weary UAV to a fresh one in an automated manner. Toward such a system, we discuss the development of two components: ROS GPS waypoint tracking package and centralized task allocation network system (CTANS). The ROS GPS waypoint tracking package is the first open source software developed for the AR Drone 2.0 UAV that enables integration with a larger system. CTANS connects the UAV host computers to a central computer, receives the UAV status information and distributes GPS flight directives. CTANS is responsible for distributing the commands to the UAVs to ensure mission handoffs are conducted as required. This multi-UAV control software testbed was used to implement a small scale, outdoor, persistent, GPS based patrol mission with two UAVs.
Publisher
Institute of Electrical and Electronics Engineers Inc.
Issue Date
2017-06
Language
English
Citation

2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017, pp.1742 - 1750

DOI
10.1109/ICUAS.2017.7991424
URI
http://hdl.handle.net/10203/240360
Appears in Collection
IE-Conference Papers(학술회의논문)
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