The BEAST: Modular Open-Source Framework for BVLOS Drone Flights with Long-Term Autonomy
Benjamin Ronald van Manen, Gerjen Ter Maat, Mick Boe, Abeje Yenehun Mersha · 2025
The rapid growth of the drone market, driven by cost-effective computing and sensor advancements, has expanded applications in safety, security, agriculture, logistics, and infrastructure inspection. The introduction of EU drone regulations in 2020 has enabled Beyond Visual Line-of-Sight (BVLOS) and autonomous operations, opening opportunities for longterm unmanned missions. However, commercial drone systems remain reliant on Remote Piloted Aircraft Systems (RPAS) and predefined waypoint navigation, while autonomous operations are often confined to research settings. In this work, we present The BEAST framework, a modular open-source framework for long-term, robust, and autonomous BVLOS operations. This framework is designed to integrate intelligent drones into real-world environments while ensuring regulatory compliance. The BEAST framework includes essential components such as obstacle avoidance, intelligent fail-safe mechanisms, reliable communication, and a weather-proof docking station. Unlike previous approaches that address isolated BVLOS challenges, The BEAST provides a comprehensive, end-to-end solution encompassing mission planning, autonomous navigation, and operational safety. The framework has been implemented and validated across multiple drone platforms in safety and security applications.