Abstract
We present a multirotor Unmanned Aerial Vehicle (UAV) control and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for estimating the states of a UAV in various frames of reference using multiple sensors simultaneously. The system enables complex missions in GNSS and GNSS-denied environments, including outdoor-indoor transitions and the execution of redundant estimators for backing up unreliable localization sources. Two feedback control designs are presented: one for precise and aggressive maneuvers, and the other for stable and smooth flight with a noisy state estimate. The proposed control and estimation pipeline are constructed without using the Euler/Tait-Bryan angle representation of orientation in 3D. Instead, we rely on rotation matrices and a novel heading-based convention to represent the one free rotational degree-of-freedom in 3D of a standard multirotor helicopter. We provide an actively maintained and well-documented open-source implementation, including realistic simulation of UAV, sensors, and localization systems. The proposed system is the product of years of applied research on multi-robot systems, aerial swarms, aerial manipulation, motion planning, and remote sensing. All our results have been supported by real-world system deployment that subsequently shaped the system into the form presented here. In addition, the system was utilized during the participation of our team from the Czech Technical University in Prague in the prestigious MBZIRC 2017 and 2020 robotics competitions, and also in the DARPA Subterranean challenge. Each time, our team was able to secure top places among the best competitors from all over the world.
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Data Availability
The presented software is provided as open-source at https://github.com/ctu-mrs/mrs_uav_system. Additional multimedia materials are available at http://mrs.felk.cvut.cz/mrs-uav-system.
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Funding
This work was supported by CTU grant no SGS20/ 174/OHK3/3T/13, by the Czech Science Foundation under research project No. 20-10280S, by Ministry of Education of the Czech Republic project CZ.02.1.01/0.0/0.0/16 019/0000765 “Research Center for Informatics”, and by the European Union’s Horizon 2020 research and innovation program under grant agreement No 871479.
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All authors contributed to the research, development, and testing of the proposed system. Tomas Baca conceptualized the proposed system and is the author of the proposed controller design and control architecture. He also leads the software development of the system. Matej Petrlik is the author of the multi-frame state estimator. Matous Vrba is responsible for maintaining low-level software libraries related to our efficient implementation of LKF, UKF, and ROS wrappers. Vojtech Spurny and Robert Penicka are responsible for maintaining the simulation pipeline and related subsystems of the software ecosystem. Daniel Hert is responsible for designing and maintaining the UAV hardware used for real-world experiments. Martin Saska is the head of the MRS group, CTU in Prague, and he provided us with the necessary guidance, funding and final proofreading. The first draft of the manuscript was written by Tomas Baca, and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.
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Baca, T., Petrlik, M., Vrba, M. et al. The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles. J Intell Robot Syst 102, 26 (2021). https://doi.org/10.1007/s10846-021-01383-5
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DOI: https://doi.org/10.1007/s10846-021-01383-5