The WITAS UAV System Demonstration
Mariusz Wzorek, Patrick Doherty · 2006
autonomous rotor-based UAV systems in the mini- and micro-UAV class. Our current system design is the result of an evolutionary process based on many years of developing, testing and maintaining sophisticated UAV systems. In particular, we have used the Yamaha RMAX helicopter platform (Fig. 1) and developed a number of micro air vehicles from scratch. Figure 1: The WITAS UAV platform. Integrating both high- and low-end functionality seamlessly in autonomous architectures is currently one of the major open problems in robotics research. UAV platforms offer an especially difficult challenge in comparison with ground robotic systems due to the often tight time constraints present in the plan generation, execution and reconfiguration stages in many complex mission scenarios. The WITAS 2 UAV system built at our Lab is fully intergrated with the Yamaha RMAX platform. It is highly distributed system that includes components ranging from control to deliberation. Its backbone is implemented using CORBA