The software architecture of the Berkeley UAV Platform
John Tisdale, Allison D. Ryan, Marco Zennaro, Xiao Xiao, Derek S. Caveney, Sivakumar Rathinam, J. Karl Hedrick, Raja Sengupta · 2006
This paper details the software architecture of the Berkeley unmanned aerial vehicle (UAV) platform. Developed over the course of three years, this platform has successfully demonstrated autonomous vision-based navigation and obstacle avoidance. 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 missions. The performance of the architecture was demonstrated using 3 UAVs to perform autonomous collaborative patrolling and vision-based navigation