Multi-UAV software systems and simulation architecture

Abstract

As unmanned aerial systems (UAS) continue to increasingly require greater integration of sophisticated software systems, developing and utilizing best practices and principles of formal software systems engineering can enhance and ensure the safety, reliability, and performance of these systems. This paper highlights the detailed implementation of a number of such tools, including agile software development methods such as automated software testing, and enhanced simulationin-the-loop testing for multi-UAS virtual and live-fly capabilities. Significant and tangible benefit to active field experimentation is demonstrated through description of these integrated approaches, impacting ongoing efforts in multi-UAS research, testing, and assessment practices.

Development and testing of the intercept primitives for planar UAV engagement

“…As described in [23], use of SITL leverages a software emulation of the (Pixhawk/Ardupilot) autopilot and provides a realistic, physically-based flight dynamics response. Multiple instances of the SITL simulator can run simultaneously either on a single computer, on a cluster, or on networked com-puters to facilitate experiments with more than 50 simulated UAVs.…”

“…Multiple instances of the SITL simulator can run simultaneously either on a single computer, on a cluster, or on networked com-puters to facilitate experiments with more than 50 simulated UAVs. The system is also capable of interacting with live UAVs, making it possible to incorporate simulated UAVs into live-fly events [23].…”

“…The companion computer communicates with the Pixhawk autopilot over a serial connection that is simulated by the SITL implementation. The ability to run actual UAV software in a realistic simulated environment has been instrumental in supporting the agile development processes that have enabled an aggressive implementation and testing schedule [23].…”

“…Numerical simulation results demonstrate the problem and the missionoriented effectiveness of the developed integrated PPN-based guidance strategy for this problem. Implementation of these guidance laws in a waypoint navigation-based manner, suitable for most modern-day autopilots, including those used in NPS swarm UAV live-fly testbed [23], [24], is demonstrated by software-in-the-loop integrated simulations.…”

Consensus-based data sharing for large-scale aerial swarm coordination in lossy communications environments

“…The NPS ARSENL team also utilizes an enhanced SITL simulation system for development and testing of single-and multi-UAV algorithms. The SITL environment provides for realistic testing with actual vehicle software in a rigorous, physically-based simulation [21]. The SITL environment also provides the ability to simulate lossy communications environments that are likely to be encountered in real-world scenarios.…”