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Design and Implementation of UAV Multi-Agent System Technology Research Software Platform: FlyMASTER

Lamping, Anthony P
http://rave.ohiolink.edu/etdc/view?acc_num=ucin152362921159089

Abstract Details

2018, MS, University of Cincinnati, Engineering and Applied Science: Aerospace Engineering.
FlyMASTER provides researchers of multi-agent UAV systems with a software platform promoting ease of integration, rapid development and flexibility to further advancement in the field of cooperative swarming UAVs. The FlyMASTER software suite designed and implemented in this research consists of two distinct but cooperative parts: the Ground Control Station (GCS) and the On-Board Computer (OBC) software components, where the GCS provides the operator with an interface to command and monitor the UAV and the OBC provides high-level control of the UAV's autopilot to perform autonomous tasks. The software suite is built on the Robot Operating System (ROS) framework and relies on a JavaScript web-based frontend for interaction with an operator. The results reveal that the software platform has been successfully demonstrated in Software-In-The-Loop (SITL) simulation and hardware integration, including multi-UAV flight tests, with multirotor and fixed-wing UAVs using PX4 Firmware compatible Flight Controllers (FC) as the autopilot and various Linux compatible Single-Board Computers (SBC) as the companion OBC. Operating in 50+ flight demonstrations, FlyMASTER has proven to be an effective research platform for multi-agent UAV control and algorithm development, such as autonomous vision landing.
Kelly Cohen, Ph.D. (Committee Chair)
Manish Kumar, Ph.D. (Committee Member)
Ou Ma, Ph.D. (Committee Member)
George T. Black, M.S. (Committee Member)
80 p.
Aerospace Materials

Recommended Citations

Citations

  • Lamping, A. P. (2018). Design and Implementation of UAV Multi-Agent System Technology Research Software Platform: FlyMASTER [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin152362921159089

    APA Style (7th edition)

  • Lamping, Anthony. Design and Implementation of UAV Multi-Agent System Technology Research Software Platform: FlyMASTER. 2018. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin152362921159089.

    MLA Style (8th edition)

  • Lamping, Anthony. "Design and Implementation of UAV Multi-Agent System Technology Research Software Platform: FlyMASTER." Master's thesis, University of Cincinnati, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=ucin152362921159089

    Chicago Manual of Style (17th edition)

ucin152362921159089
178
© 2018, all rights reserved.
This open access ETD is published by University of Cincinnati and OhioLINK.