TY - GEN
T1 - Multi-UAV control testbed for persistent UAV presence
T2 - 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
AU - Lee, Brad Hyeong Yun
AU - Morrison, James R.
AU - Sharma, Rajnikant
N1 - Funding Information:
The work was supported by National Research Foundation of Korea NRF-2016R1A2B4010132
Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/25
Y1 - 2017/7/25
N2 - 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.
AB - 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.
KW - Multi-UAV systems
KW - Network programming
KW - Robot Operating System (ROS)
KW - UAV GPS waypoint tracking
KW - Unmanned aerial vehicle (UAV)
UR - http://www.scopus.com/inward/record.url?scp=85034013436&partnerID=8YFLogxK
U2 - 10.1109/ICUAS.2017.7991424
DO - 10.1109/ICUAS.2017.7991424
M3 - Conference contribution
AN - SCOPUS:85034013436
T3 - 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
SP - 1742
EP - 1750
BT - 2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 13 June 2017 through 16 June 2017
ER -