The Software Architecture of the Berkeley UAV Platform

John Tisdale, Allison Ryan, Marco Zennaro, Xiao Xiao, Derek Caveney, Siva Rathinam, J. Hedrick, Raja Sengupta
2006 2006 IEEE International Conference on Control Applications  
This paper details the software architecture of the Berkeley Unmanned Aerial Vehicle (UAV) Platform. Developed over the course of three years, this platform has previously demonstrated autonomous vision-based navigation, obstacle avoidance and convoy tracking. A software architecture has been developed to allow for collaborative control concepts to be examined. This modular architecture has been shown to be effective for use in allowing a team of UAVs to collaboratively perform a set of
more » ... rm a set of missions. The performance of the architecture was demonstrated using three UAVs to perform autonomous collaborative patrolling and vision-based navigation.
doi:10.1109/cca.2006.286066 fatcat:sk2qducgkbcnbde2peueoe6a7e