Amador Olivares, Juan Manuel (University of Seville), Martinez-de Dios, J.R. (University of Seville), Paneque, Julio L. (University of Seville), Ollero, Anibal (Universidad de Sevilla)

An Agile Low-Cost Testbed for Multi-Drone Target Tracking

Scheduled for presentation during the Regular Session "UAS Testbeds" (WeD33T1), Wednesday, November 27, 2019, 12:00−12:20, Room T1

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS), November 25-27, 2019, Cranfield University, Cranfield, UK

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

Most existing aerial robotics testbeds have significant set-up and maintenance costs that restrict their use. This paper presents a low-cost multi-drone testbed for agile and safe performing proof-of-concept experiments. It uses low-weight, low-size emph{Crazyflies} drones and low-cost lighthouse positioning system for drone pose estimations. Its flexible and modular ROS-based architecture can be used to easily test multi-drone perception, control and planning techniques and can easily integrate bigger drones. The presented testbed does not require a dedicated room and can be set-up in less than one hour. The paper presents the testbed and validates its operation with multi-drone target tracking experiments.