A Modular Software Infrastructure for Distributed Control of Collaborating UAVs

Abstract

Collaborating unmanned aerial vehicles can e‐ciently perform surveillance, mapping, and other tasks without human risk. Currently deployed unmanned aerial vehicles demonstrate a need for increased autonomy and cooperation. We present a UAV software architecture and hardware platform that have demonstrated single-user control of a ∞eet of aircraft, distributed task assignment, and vision-based navigation. A modular software infrastructure has been developed to coordinate distributed control, communications, and vision-based control. Along with the onboard control architecture, a set of user interfaces has been developed to allow a single user to e‐ciently control the ∞eet of aircraft. Distributed and vision-based control are enabled by powerful onboard computing capability and an aircraft-to-aircraft ad-hoc wireless network. Custom modiflcations to the Sig Rascal airframe are required to support this capability, including reinforcement and vibration isolation. We describe original elements of the system that provide unique capabilities for collaboration, followed by results of a ∞ight demonstration.