Selecký, Martin (Czech Technical University in Prague), Faigl, Jan (Czech Technical University in Prague), Rollo, Milan (Czech Technical University in Prague)

Mixed Reality Simulation for Incremental Development of Multi-UAV Systems

Scheduled for presentation during the "Simulation" (FrB2), Friday, June 16, 2017, 15:05−15:25, Salon AB

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

Development of complex multi-robot systems requires time consuming and expensive testing and, especially in case of unmanned aerial systems, it aggregates risk of hardware failures and legal issues when operating more than one unmanned aircraft simultaneously. It is highly favourable to deal with most of eventual design flaws and system bugs before the final field tests in a simulation where the risks are significantly lower. On the other hand, the fidelity of the simulation needs to rise as the system development approaches the final stages and since some phenomena are difficult to be modelled precisely a partial embodiment of the simulation in physical world is necessary. In this paper, we present our results in utilization of mixed reality simulation for incremental development of multi-UAV systems. We present three use cases where this method was used for development of various systems to show its versatility: (i) an unmanned system consisting of heterogeneous team of autonomous unmanned aircraft; (ii) a system for verification of collision avoidance methods among fixed wing UAVs; and (iii) a system for planning collision-free paths for light-sport aircraft.