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    Networking-Enabling Enhancement for a Swarm of COTS Drones

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    1625347.pdf (3.906Mb)
    Date
    2018
    Author
    Engebråten, Sondre Andreas
    Glette, Kyrre
    Yakimenko, Oleg
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    Abstract
    This paper presents the augmentation of a commercial-of-the-self (COTS) multi-rotor unmanned aerial system (UAS) to extend its capabilities by introducing increased on-board processing power. The option to process sensor information on-board reduces the required bandwidth by only communicating relevant or important information and therefore increases the level of UAS autonomy. It also enables adaptive reactive abilities for a group of UAS executing a coordinated, collaborative or cooperative mission. This paper describes an effort to integrate a small board computer, more specifically, an Odroid C2 with the COTS 3DR Solo drone, and reviews the achieved enhanced capabilities of such a system. This is an extension of a traditional autopilot, as such, the original Ardupilot hardware and software is not modified in this work.
    URI
    http://hdl.handle.net/20.500.12242/2026
    DOI
    10.1109/ICCA.2018.8444274
    Description
    Engebråten, Sondre Andreas; Glette, Kyrre; Yakimenko, Oleg. Networking-Enabling Enhancement for a Swarm of COTS Drones. IEEE International Conference on Control and Automation 2018 ;Volum 2018-June. s. 562-569
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