Gutmann, Markus (Alpen-Adria Universität Klagenfurt), Rinner, Bernhard (Alpen-Adria Universität Klagenfurt)

EAMOS: Execution of Aerial Multidrone Mission Operations and Specifications Framework

Scheduled for presentation during the Regular Session "UAS Applications IV" (ThB5), Thursday, June 8, 2023, 11:00−11:20, Room 466

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 16, 2024

Abstract

Tools for specifying and executing multidrone missions that go beyond pure orchestration of waypoints are rare. We present the EAMOS framework, which introduces a simple and intuitive text-based mission specification process to execute a multidrone mission onboard different heterogeneous drones. Key benefits of EAMOS are the easy handling of sequential and parallel drone actions and their automatic synchronization. A uniform drone-interface abstracts the handling of different drone types, and specialized mission control structures enable specifying high-level missions. Our EAMOS prototype has been completely implemented in Go and successfully demonstrated in combination with the Airsim multidrone simulation environment and the PX4 flight controller as a software-in-the-loop component. Synchronization among multiple drones w.r.t.~their sequentially and concurrently performed actions as well as the correct application of mission control structures behave as expected.