ICUAS'22 Paper Abstract

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Paper FrB2.6

Hert, Daniel (Czech Technical University in Prague), Baca, Tomas (Czech Technical University in Prague FEE), Petracek, Pavel (Czech Technical University in Prague), Kratky, Vit (Czech Technical University in Prague), Spurny, Vojtech (Czech Technical University in Prague), Petrlik, Matej (Czech Technical University FEE), Vrba, Matouš (Faculty of Electrical Engineering, Czech Technical University in), Žaitlík, David (Czech Technical University in Prague), Stoudek, Pavel (Czech Technical University in Prague), Walter, Viktor (Czech Technical University in Prague FEE), Stepan, Petr (Czech Technical University in Prague), Horyna, Jiri (Czech Technical University in Prague, FEE), Vaclav, Czech Technical University in Prague (84639), Giuseppe, Czech Technical University in Prague (121218), Daniel, Czech Technical University in Prague (113645), Petr, Czech Technical University in Prague (77622), Robert, Czech Technical University in Prague, Faculty of Electrical Engi (107133), Tiago, Universidade Federal da Paraiba (44924), Martin, Czech Technical University in Prague FEE ()

MRS Modular UAV Hardware Platforms for Supporting Research inReal-World Outdoor and Indoor Environments

Scheduled for presentation during the Regular Session "Technology Challenges" (FrB2), Friday, June 24, 2022, 13:10−13:30, Bokar

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Technology Challenges, UAS Applications, UAS Testbeds

Abstract

This paper presents a family of autonomous UAV platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor configurations, and even UAV frames. This allows to achieve, with minimal effort, a proper experimental setup for single, as well as, multi-robot scenarios. Presented platforms are intended to facilitate the transition from simulations, and simplified laboratory experiments, into the deployment of aerial robots into uncertain and hard-to-model real-world conditions. We present mechanical designs, electric configurations, and dynamic models of the UAV, followed by numerous recommendations and technical details required for building such a fully autonomous UAV system for experimental verification of scientific achievements. To show strength and high variability of the proposed system, we present results of tens of completely different real-robot experiments in various environments using distinct actuator and sensory configurations.

 

 

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