ABSTRACT
Over the years, UAVs (also known as drones) have been growing in studies and applications to solve diverse problems. Due to the complexity of these problems, dealing with just one UAV may not be enough, but using several UAVs together to work cooperatively increases its capacities, thus boosting solutions. However, developing cooperative Multi-UAV systems is not trivial, and reuse support is usually limited to low-level implementation. This work presents a framework for Multi-UAVs, called Mysterio, which provides an underlying software architecture with essential Multi-UAV components, enabling the reuse of design and code so that engineers can instantiate it to carry out specific missions by making UAVs work in cooperation. We also present four instances of the framework to evaluate Mysterio’s effectiveness in the face of the developed scenarios. Finally, we discuss the framework’s potential to provide and support reuse code to develop Cooperative Multi-UAVs systems for different application scenarios.
- Muhammad Yeasir Arafat and Sangman Moh. 2019. Routing protocols for unmanned aerial vehicle networks: A survey. IEEE Access 7(2019), 99694–99720.Google ScholarCross Ref
- Eskindir Asmare, Anandha Gopalan, Morris Sloman, Naranker Dulay, and Emil Lupu. 2012. Self-management framework for mobile autonomous systems. Journal of Network and Systems Management 20, 2 (2012), 244–275.Google ScholarDigital Library
- Argel A Bandala, Elmer P Dadios, Ryan Rhay P Vicerra, and Laurence A Gan Lim. 2014. Swarming algorithm for unmanned aerial vehicle (uav) quadrotors–swarm behavior for aggregation, foraging, formation, and tracking–. Journal of Advanced Computational Intelligence and Intelligent Informatics 18, 5 (2014), 745–751.Google ScholarCross Ref
- Len Bass, Paul Clements, and Rick Kazman. 2012. Software Architecture in Practice (Third Edit., p. 624).Google Scholar
- Ilker Bekmezci, Ozgur Koray Sahingoz, and Şamil Temel. 2013. Flying ad-hoc networks (FANETs): A survey. Ad Hoc Networks 11, 3 (2013), 1254–1270.Google ScholarDigital Library
- Fred Briggs. 2012. UAV software architecture. In Infotech@ Aerospace 2012. Researchgate, 2539.Google Scholar
- Guowei Cai, Ben M Chen, and Tong Heng Lee. 2011. Unmanned rotorcraft systems. Springer Science & Business Media.Google Scholar
- Hai Chen, Xin-min Wang, and Yan Li. 2009. A survey of autonomous control for UAV. In 2009 International Conference on Artificial Intelligence and Computational Intelligence, Vol. 2. IEEE, IEEE, 267–271.Google ScholarDigital Library
- Kai Daniel, Bjoern Dusza, Andreas Lewandowski, and Christian Wietfeld. 2009. AirShield: A system-of-systems MUAV remote sensing architecture for disaster response. In 2009 3rd Annual IEEE Systems Conference. IEEE, IEEE, 196–200.Google ScholarCross Ref
- Patrick Doherty, Gösta Granlund, Krzysztof Kuchcinski, Erik Sandewall, Klas Nordberg, Erik Skarman, and Johan Wiklund. 2000. The WITAS unmanned aerial vehicle project. In ECAI. 747–755.Google Scholar
- Lav Gupta, Raj Jain, and Gabor Vaszkun. 2015. Survey of important issues in UAV communication networks. IEEE Communications Surveys & Tutorials 18, 2 (2015), 1123–1152.Google ScholarDigital Library
- Samira Hayat, Evşen Yanmaz, and Raheeb Muzaffar. 2016. Survey on unmanned aerial vehicle networks for civil applications: A communications viewpoint. IEEE Communications Surveys & Tutorials 18, 4 (2016), 2624–2661.Google ScholarDigital Library
- Chen Hong and Dianxi Shi. 2018. A control system architecture with cloud platform for multi-uav surveillance. In 2018 IEEE SmartWorld, Ubiquitous Intelligence & Computing, Advanced & Trusted Computing, Scalable Computing & Communications, Cloud & Big Data Computing, Internet of People and Smart City Innovation (SmartWorld/SCALCOM/UIC/ATC/CBDCom/IOP/SCI). IEEE, 1095–1097.Google Scholar
- Christopher-Eyk Hrabia, Axel Hessler, Yuan Xu, Jan Brehmer, and Sahin Albayrak. 2018. Efffeu project: Efficient operation of unmanned aerial vehicles for industrial fire fighters. In Proceedings of the 4th ACM Workshop on Micro Aerial Vehicle Networks, Systems, and Applications. 33–38.Google ScholarDigital Library
- Taygun Kekec, Baris Can Ustundag, Mehmet Ali Guney, Alper Yildirim, and Mustafa Unel. 2013. A modular software architecture for UAVs. In IECON 2013-39th Annual Conference of the IEEE Industrial Electronics Society. IEEE, 4037–4042.Google ScholarCross Ref
- Lobna Krichen, Mohamed Fourati, and Lamia Chaari Fourati. 2018. Communication architecture for unmanned aerial vehicle system. In International Conference on Ad-Hoc Networks and Wireless. Springer, Springer, 213–225.Google ScholarCross Ref
- Yasuhiro Kuriki and Toru Namerikawa. 2014. Consensus-based cooperative formation control with collision avoidance for a multi-UAV system. In 2014 American Control Conference. IEee, 2077–2082.Google ScholarCross Ref
- Sara Yousif Mohamed Mahmoud and Nader Mohamed. 2015. Toward a cloud platform for UAV resources and services. In 2015 IEEE Fourth Symposium on Network Cloud Computing and Applications (NCCA). IEEE, 23–30.Google ScholarDigital Library
- Naser Hossein Motlagh, Tarik Taleb, and Osama Arouk. 2016. Low-altitude unmanned aerial vehicles-based internet of things services: Comprehensive survey and future perspectives. IEEE Internet of Things Journal 3, 6 (2016), 899–922.Google ScholarCross Ref
- Iñaki Navarro and Fernando Matía. 2012. An introduction to swarm robotics. Isrn robotics 2013(2012).Google Scholar
- James L Paunicka, Brian R Mendel, and David E Corman. 2005. Open control platform: A software platform supporting advances in uav control technology. Software-Enabled Control: Information Technology for Dynamical Systems (2005), 39–62.Google Scholar
- BF Leonardo Ramos, B Franca, L Montechi, and E Colombini. 2018. The rocs framework to support the development of autonomous robots. Relatório Técnico. Instituto de Computaçao. Universidade Estadual de Campinas (Unicamp), Tech. Rep (2018).Google Scholar
- Allison Ryan, Xiao Xiao, Sivakumar Rathinam, John Tisdale, Marco Zennaro, Derek Caveney, Raja Sengupta, and J Karl Hedrick. 2006. A modular software infrastructure for distributed control of collaborating UAVs. In AIAA Guidance, Navigation, and Control Conference and Exhibit. 6455.Google Scholar
- B Moses Sathyaraj, Lakhmi C Jain, Anthony Finn, and S Drake. 2008. Multiple UAVs path planning algorithms: a comparative study. Fuzzy Optimization and Decision Making 7, 3 (2008), 257.Google ScholarDigital Library
- Jürgen Scherer, Saeed Yahyanejad, Samira Hayat, Evsen Yanmaz, Torsten Andre, Asif Khan, Vladimir Vukadinovic, Christian Bettstetter, Hermann Hellwagner, and Bernhard Rinner. 2015. An autonomous multi-UAV system for search and rescue. In Proceedings of the First Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use. 33–38.Google ScholarDigital Library
- Vishal Sharma, Navuday Sharma, and Mubashir Husain Rehmani. 2019. Control over Skies: Survivability, Coverage and Mobility Laws for Hierarchical Aerial Base Stations. arXiv preprint arXiv:1903.03725(2019).Google Scholar
- Giuseppe Silano and Luigi Iannelli. 2021. MAT-fly: an educational platform for simulating unmanned aerial vehicles aimed to detect and track moving objects. IEEE Access 9(2021), 39333–39343.Google ScholarCross Ref
- Gregory Sinsley, Lyle Long, Albert Niessner, and Joseph Horn. 2008. Intelligent systems software for unmanned air vehicles. In 46th AIAA Aerospace Sciences Meeting and Exhibit. 871.Google ScholarCross Ref
- OM Tachinina, OI Lysenko, and IV Alekseeva. 2017. Path constructing method of unmanned aerial vehicle. In 2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD). IEEE, IEEE, 254–258.Google ScholarCross Ref
- John Tisdale, Allison Ryan, Marco Zennaro, Xiao Xiao, Derek Caveney, Siva Rathinam, J Karl Hedrick, and Raja Sengupta. 2006. The software architecture of the Berkeley UAV platform. In 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control. IEEE, IEEE, 1420–1425.Google Scholar
- John Patrick Tisdale. 2008. Cooperative sensing and control with unmanned aerial vehicles. University of California, Berkeley.Google Scholar
- Ashwin Vasudevan, D Ajith Kumar, and NS Bhuvaneswari. 2016. Precision farming using unmanned aerial and ground vehicles. In 2016 IEEE Technological Innovations in ICT for Agriculture and Rural Development (TIAR). IEEE, IEEE, 146–150.Google Scholar
- Patrick Vincent and Izhak Rubin. 2004. A framework and analysis for cooperative search using UAV swarms. In Proceedings of the 2004 ACM symposium on Applied computing. 79–86.Google ScholarDigital Library
- Evşen Yanmaz, Saeed Yahyanejad, Bernhard Rinner, Hermann Hellwagner, and Christian Bettstetter. 2018. Drone networks: Communications, coordination, and sensing. Ad Hoc Networks 68(2018), 1–15.Google ScholarDigital Library
- Qiuyue Yu, Lei Cheng, Xin Wang, Pengxiang Bao, and Quanmin Zhu. 2018. Research on Multiple Unmanned Aerial Vehicles Area Coverage for Gas Distribution Mapping. In 2018 10th International Conference on Modelling, Identification and Control (ICMIC). IEEE, IEEE, 1–5.Google Scholar
Index Terms
The Mysterio framework for developing cooperative Multi-UAV Systems
Recommendations
Multi-drone Framework for Cooperative Deployment of Dynamic Wireless Sensor Networks
Advances in Swarm IntelligenceAbstractA system implementing a proposed framework for using multiple-cooperating-drones in the deployment of a dynamic sensor network is completed and preliminary tests performed. The main components of the system are implemented using a genetic strategy ...
Multi-UAV Simulator Utilizing X-Plane
This paper describes the development of a simulator for multiple Unmanned Aerial Vehicles (UAVs) utilizing the commercially available simulator X-Plane and Matlab. Coordinated control of unmanned systems is currently being researched for a wide range of ...
Comments