This ongoing study delves into an autonomous swarm of unmanned aerial vehicles (UAVs) that takes mission requirements and moves in formations based on user input. We utilize commercial off-the-shelf (COTS) hardware and open source software to create a low-cost accessible platform for the potential use in commercial and research applications. The system is scalable, with the capability of swarm formation in both static and dynamic configurations using real-time path planning and optimized target assignment. The group of UAVs used in this study consists of multiple quadcopters, each equipped with an on-board computer, a flight controller, and COTS telemetry and GPS modules. Commands are sent to the swarm via a ground station. The ground station and UAVs communicate via a WiFi datalink. The system has demonstrated path-planning with collision avoidance capabilities through simulations. This study shows via simulation and partially through experimentation that swarm autonomy can be implemented effectively and cost-efficiently. This creates an ease of access for the use of a swarm of UAVs for a variety of applications including 3D mapping, and search and rescue across a variety of terrains with increasing difficulty. By integrating other sensors and instruments, this swarm can be used to measure a variety of parameters, locating targets and creating formations around them to best study the targets in areas where ground navigation and viewpoints are non-optimal.


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    Titel :

    Adaptable UAV Swarm Autonomy and Formation Platform


    Beteiligte:
    Srivastava, Divya (Autor:in) / Pakkar, Roxanna (Autor:in) / Langrehr, Austin (Autor:in) / Yamane, Chaska (Autor:in)


    Erscheinungsdatum :

    01.03.2019


    Format / Umfang :

    14175187 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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