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MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems

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Abstract

This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot System (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity changes in actuators, frames, and sensory configuration. As the name suggests, the platform is specially tailored for deployment within a MRS group. The MRS Drone contributes to the state-of-the-art of UAV platforms by allowing smooth real-world deployment of multiple aerial robots, as well as by outperforming other platforms with its modularity. For real-world multi-robot deployment in various applications, the platform is easy to both assemble and modify. Moreover, it is accompanied by a realistic simulator to enable safe pre-flight testing and a smooth transition to complex real-world experiments. In this manuscript, we present mechanical and electrical designs, software architecture, and technical specifications to build a fully autonomous multi UAV system. Finally, we demonstrate the full capabilities and the unique modularity of the MRS Drone in various real-world applications that required a diverse range of platform configurations.

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Code or data availability

The authors declare that the data supporting the findings of this study are available within the MRS software link (https://github.com/ctu-mrs/mrs_uav_system) and MRS Drone Builder link (https://dronebuilder.fly4future.com/).

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Acknowledgements

The authors would like to thank the researchers from the Laboratory of Systems Engineering and Robotics Group at the Universidade Federal da Paraíba that, in partnership, helped improve and test our system. Furthermore, the paper is an extension of the manuscript with DOI: 10.1109/ICUAS54217.2022.9836083, from ICUAS 2022.

Funding

This work was partially funded by the CTU grant no. SGS20/174/OHK3/3T/13, by the Czech Science Foundation (GAČR) under research project no. 20-10280S, no. 20-29531S, no. 22-24425S and no. 23-06162M, by TAČR project no. FW01010317, by the OP VVV funded project CZ.02.1.01/0.0/0.0/16 019/0000765 “Research Center for Informatics", by the NAKI II project no. DG18P02OVV069, by the European Union’s Horizon 2020 research and innovation program AERIAL-CORE under grant agreement no. 871479, by the DARPA, and by the Technology Innovation Institute - Sole Proprietorship LLC, UAE. Furthermore, computational resources were supplied by the project “e-Infrastruktura CZ" (e-INFRA LM2018140) provided within the program Projects of Large Research, Development and Innovations Infrastructures.

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  1. Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic

    Daniel Hert, Tomas Baca, Pavel Petracek, Vit Kratky, Robert Penicka, Vojtech Spurny, Matej Petrlik, Matous Vrba, David Zaitlik, Pavel Stoudek, Viktor Walter, Petr Stepan, Jiri Horyna, Vaclav Pritzl, Martin Sramek, Afzal Ahmad, Giuseppe Silano, Daniel Bonilla Licea, Petr Stibinger, Tiago Nascimento & Martin Saska

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  1. Daniel Hert
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Contributions

In this work, M. Saska coordinated the entire project and group activities. T. Nascimento (the corresponding author) was responsible for coordinating the writing of this manuscript, and the writing of Sections 1, 5.3.2, and 5.3.2. D. Hert coordinated the hardware team and selected the electronic components, actuators, and sensors of the UAVs, and wrote Section 3. D. Zaitlik designed the electronic MRS board. P. Stoudek was responsible for designing the various types of mechanical frames and writing Sections 2.1, 2.2, 2.3, and 2.8, while M. Sramek was responsible for printing all the 3D-printed parts and coordinating the mass production of MRS UAVs and writing Sections 2.4, 2.5, and 2.7. On the MRS system, T. Baca coordinated the MRS software development and wrote Sections 4 and 5.3.4. V. Walter designed the UVDAR MRS system. D. Bonilla Licea helped improve communication through UVDAR and wrote Section 2.6. P. Stepan helped develop the vision system of MRS UAVs. V. Spurny was responsible for developing the simulation environment and wrote Section 5.1. On upgrading the MRS Drone and MRS SW system to attend to various applications, M. Petrlik designed the MRS Drone localization system and wrote Section 5.2.1, while V. Pritzl helped improve the sensor fusion of the MRS Drone and helped write Sections 5.2.1 and 5.4.2. P. Petracek designed the MRS Drone (HW and SW) for the Dronument project and wrote Sections 5.2.2 and 5.4.2, while V. Kratky designed the MRS Drone designed the MRS Drone (HW and SW) for industrial inspections and wrote Section 5.2.3. J. Horyna focused on swarming in deserts and modified the MRS Drone for such applications, as well as wrote Section 5.3.1. M. Vrba focused on the vision system, localization, and AI-based applications of the MRS Drone, while also writing Sections 5.4, 5.4.1, and 5.4.6. P. Stibinger helped improve the MRS Drone SW system and wrote Section 5.4.3. A. Ahmad applied the MRS Drone to outer space applications and manipulation and wrote Sections 5.4.4 and 5.4.5. R. Penicka designed the trajectory and path planning of the MRS Drone, revised the entire manuscript, helped write Section 1, and wrote the abstract and Section 6. Finally, G. Silano wrote Section 5.3.5 and helped revise the entire manuscript.

Corresponding author

Correspondence to Tiago Nascimento.

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Hert, D., Baca, T., Petracek, P. et al. MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems. J Intell Robot Syst 108, 64 (2023). https://doi.org/10.1007/s10846-023-01879-2

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