Pignaton de Freitas, Edison (Federal University of Rio Grande do Sul), Leite Francisco da Costa, Luis Antonio (Institute of Informatics, Federal University of Rio Grande do Su), Emygdio de Melo, Carlos Felipe (Federal University Of Rio Grande do Sul), Basso, Maik (Federal University of Rio Grande do Sul), Rodrigues Vizzotto, Marcos (Federal University of Rio Grande do Sul), Schein Cavalheiro Corrêa, Mateus (Federal University of Rio Grande do Sul), Dapper e Silva, Túlio (Federal University of Rio Grande do Sul)

Design, Implementation and Validation of a Multipurpose Localization Service for Cooperative Multi-UAV Systems

Scheduled for presentation during the Regular Session "Networked Swarms I" (WeB3), Wednesday, September 2, 2020, 16:40−17:00, Edessa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

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

Abstract

Systems composed of groups of Unmanned Aerial Vehicles (UAVs) are emerging as an extension of the usage of single UAVs in a number of applications. Besides of very desirable, the possibility of using multi-UAV systems requires that each UAV in the group has information about the locations of the others, so that the system as a whole can work smoothly, i.e. keeping configured flight formation, without collisions, evenly distributing the tasks, and even authenticating one another so that no malicious node access the group. To support such multi-UAV systems setup, this work reports the proposal of a multipurpose localization service to disseminate positioning information of the UAVs to the group as well as to estimate the positions that are not received due to communication errors. The proposal consists in a complete methodology to setup, test and perform multi-UAV missions, which are firstly planned, setup and tested in a simulated environment, and then performed in the real-world. Design and implementation details of the proposed infrastructure service are presented, along with a complete validation of the proposal, from simulation to the field experiments. The acquired results provide evidence that the proposed service and methodology are efficient to support fleet of UAVs performing cooperative missions.