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Towards a Unified Decentralized Swarm Management and Maintenance Coordination Based on MAVLink

Authors:
Thomas Dietrich
M.Sc. Oleksandr Andryeyev
Prof. Dr. Armin Zimmermann
Prof. Dr.-Ing. habil. Andreas Mitschele-Thiel
Typ:
Conferences
Status:
accepted
Date of publication
05/04/2016
Abstract:
Small and flexible micro-aerial vehicles (MAVs) are capable of flying autonomously following the instructions of an autopilot received from a controlling ground entity.
Their utilization includes commercial applications and reconnaissance missions.
Moreover, MAVs can be combined into swarms to be effectively used in missions that would be impossible or too time-consuming for single entities.
This paper proposes a comprehensive set of coordination commands necessary for the communication between swarm MAVs and ground entities.
Moreover, an implementation as an extension of the MAVLink micro air vehicle message library is presented.
Bibtex
External link
http://icarsc2016.ipb.pt/