MAVwork: A Framework for Unified Interfacing between Micro Aerial Vehicles and Visual Controllers

Mellado-Bataller, Ignacio; Pestana, Jesús; Olivares-Méndez, Miguel A.; Campoy, Pascual; Mejias, Luís

doi:10.1007/978-3-642-35485-4_13

Cited by 11 publications

(10 citation statements)

References 4 publications

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“…However, we argue that there is a need for a system-oriented manuscript that includes software and sources. In this section, we will discuss implementation and software design considerations of our system 21 that have been shaped by the requirements of real-world deployment. Real-world deployment and verification of novel UAV methods often require a specific platform configuration for the method being verified.…”

Section: Methodsmentioning

confidence: 99%

“…However, no software was attached, and the materials have not been updated since. Similarly, a framework for drone control using the Vicon localization system named MAVwork 11 [21] was published in 2011, but has not been updated since. Although sources were made available, they offered only basic features that would be difficult to transfer into a real-world scenario.…”

Section: State-of-the Artmentioning

confidence: 99%

“…This significantly increases the overall stability of the system. For example, the feedback loop can be closed using an optic flow odometry estimator when the 21 http://github.com/ctu-mrs/mrs_uav_system 22 Robot Operating System, http://ros.org 23 ROS tf2, http://wiki.ros.org/tf2 GPS signal is too inaccurate for feedback control. However, control references can still be given in the GPS coordinate frame, without the need to change the mission & navigation software.…”

Section: State Estimatormentioning

confidence: 99%

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The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles

Baca,

Petrlik,

Vrba

et al. 2020

Preprint

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We present a multirotor Unmanned Aerial Vehicle (UAV) control and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for estimating the states of a UAV in various frames of reference using multiple sensors simultaneously. The system enables complex missions in GNSS and GNSS-denied environments, including outdoor-indoor transitions and the execution of redundant estimators for backing up unreliable localization sources. Two feedback control designs are presented: one for precise and aggressive maneuvers, and the other for stable and smooth flight with a noisy state estimate. The proposed control and estimation pipeline are constructed without using the Euler/Tait-Bryan angle representation of orientation in 3D. Instead, we rely on rotation matrices and a novel heading-based convention to represent the one free rotational degree-of-freedom in 3D of a standard multirotor helicopter. We provide an actively maintained and well-documented open-source implementation (http://github.com/ctu-mrs/mrs_uav_system), including realistic simulation of UAVs, sensors, and localization systems. The proposed system is the product of years of applied research on multi-robot systems, aerial swarms, aerial manipulation, motion planning, and remote sensing. All our results have been supported by real-world system deployment that subsequently shaped the system into the form presented here. In addition, the system was utilized during the participation of our team from the Czech Technical University in Prague in the prestigious MBZIRC 2017 and 2020 robotics competitions, and also in the DARPA Subterranean challenge. Each time, our team was able to secure top places among the best competitors from all over the world. On each occasion, the competitions and challenges has motivated the team to improve the system and to gain a great amount of high-quality experience within tight deadlines.

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Section: Methodsmentioning

confidence: 99%

Section: State-of-the Artmentioning

confidence: 99%

Section: State Estimatormentioning

confidence: 99%

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The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles

Baca,

Petrlik,

Vrba

et al. 2020

Preprint

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“…It can send and receive basic packets from the drone, and is used to get measurements from the various sensors and to send the commands. Second one TUM_ARDRONE is a package using PTAM [18] (Parallel Tracking and Mapping), another package made for mapping with little robots/drones, see Fig. 3.…”

Section: Methodsmentioning

confidence: 99%

Parallel Tracking and Mapping of a Fleet of Quad-Rotor

Bazin¹,

Bouguir²,

Combe³

et al. 2017

IJET

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Abstract-The problem of managing a fleet of quad-rotor drones in a completely unknown environment is analyzed in the present paper. This work is following the footsteps of other studies about how should be managed the movements of a swarm of elements that have to stay gathered throughout their activities. In this paper we aim to demonstrate the restrictions of a system where absolutely all the calculations and physical movements of our elements are done by one single external element. This is made possible thanks to a set of command rules which can guide the drones through various missions with defined goal. This strategy is based on a simultaneous usage of different data:

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“…Table I summarizes the most popular software frameworks available in the literature. MAVwork [12] was one of the first frameworks for aerial vehicles in 2011. Two years later, ReCOPTER [11], [17] was released, which is an opensource framework for research and educational activities with multi-rotor vehicles.…”

Section: A Related Workmentioning

confidence: 99%

A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks

Silano

Bednář

Nascimento

et al. 2021

2021 International Conference on Unmanned Aircraft Systems (ICUAS)

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This paper presents a multi-layer software architecture to perform cooperative missions with a fleet of quadrotors providing support in electrical power line inspection operations. The proposed software framework guarantees the compliance with safety requirements between drones and human workers while ensuring that the mission is carried out successfully. Besides, cognitive capabilities are integrated in the multi-vehicle system in order to reply to unforeseen events and external disturbances. The feasibility and effectiveness of the proposed architecture are demonstrated by means of realistic simulations.

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MAVwork: A Framework for Unified Interfacing between Micro Aerial Vehicles and Visual Controllers

Cited by 11 publications

References 4 publications

The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles

The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles

Parallel Tracking and Mapping of a Fleet of Quad-Rotor

A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks

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