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

Brad Hyeong Yun Lee, James R. Morrison, Rajnikant Sharma

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

14 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1742-1750
Number of pages9
ISBN (Electronic)9781509044948
DOIs
StatePublished - Jul 25 2017
Event2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017 - Miami, United States
Duration: Jun 13 2017Jun 16 2017

Publication series

Name2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017

Conference

Conference2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
Country/TerritoryUnited States
CityMiami
Period06/13/1706/16/17

Keywords

  • Multi-UAV systems
  • Network programming
  • Robot Operating System (ROS)
  • UAV GPS waypoint tracking
  • Unmanned aerial vehicle (UAV)

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