No abstract

This paper introduces a hardware platform for automated battery changing and charging for multiple UAV agents. The automated station holds a buffer of 8 batteries in a novel dual-drum structure that enables a "hot" battery swap, thus allowing the vehicle to remain powered on throughout the battery changing process. Each drum consists of four battery bays, each of which is connected to a smartcharger for proper battery maintenance and charging. The hot-swap capability in combination with local recharging and a large 8-battery capacity allow this platform to refuel multiple UAVs for long-duration and persistent missions with minimal delays and no vehicle shutdowns. Experimental results from the RAVEN indoor flight test facility are presented that demonstrate the capability and robustness of the battery change/charge station in the context of a multi-agent, persistent mission where surveillance is continuously required over a specified region.