Publikationsrepositorium - Helmholtz-Zentrum Dresden-Rossendorf

Single drones have been already used for basic missions. Drone swarms have further extended advantages as they can cover much larger areas in shorter times. In accordance with the requirements in terms of demand, it is possible to carry out various missions involving several types of UAVs as well as various onboard sensors. This task becomes even more complex when the system is composed of autonomous UAVs that collaborate with each other without the assistance of an operator. Several factors must be considered, such as the complexity of the mission, the types of UAVs, the communication architecture, the routing protocol, the coordination of tasks, and many other factors related to the environment. In this proposal, we will discuss the conceptual model and implementation of a multi-UAV system based on a decentralized master-slave architecture. We will then discuss the development environment using tools such as the ROS, MAVLINK, Gazebo, MavProxy/APM/QGround. We will address the communication concerns between UAVs that underlie the messages, services and actions enabling efficient swarm interation. Finally, we'll discuss the technical challenges and constraints involved in setting up such a project.