CoUAS: Enable Cooperation for Unmanned Aerial Systems

Abstract

In the past decade, unmanned aircraft systems (UASs) have been widely used in various civilian applications, most of which involve only a single unmanned aerial vehicle (UAV). In the near future, more and more UAS applications will be facilitated by the cooperation of multiple UAVs. In such applications, it is desirable to utilize a general control platform for cooperative UAVs. However, existing open-source control platforms cannot fulfill such a demand because (1) they only support the leader-follower mode, which limits the design options for fleet control, (2) existing platforms can support only certain type of UAVs and thus lack compatibility, and (3) these platforms cannot accurately simulate a flight mission, which may cause a big gap between simulation and real-world flight. To address these issues, we propose a general control and monitoring platform for cooperative UAS, namely, CoUAS, which provides a set of core cooperation services of UAVs, including synchronization, connectivity management, path planning, energy simulation, and so on. To verify the applicability of CoUAS, we design and develop a prototype in which an embedded path planning service is provided to complete any task with the minimum flying time while considering the network connectivity and coverage. Experimental results by both simulation and field test demonstrate that the proposed system is viable.