Desarrollo e implementación de una plataforma experimental para la consecución de tareas colaborativas mediante el uso de UAV autónomos

Abstract

The present work focuses on trying to ease the development of realistic and flexible coordination strategies that allow effective cooperation between several UAVs to carry out a common task. To achieve this, we propose an approach formed by a methodology and a software platform. The proposed methodology is based on three fundamental foundations: a standardized and modular structure for software, the independence of the coordination strategy from the concrete hardware and the iterative and progressive incorporation of the complexity of reality. The software platform developed rely in mixed reality to allow the progressive implementation of the coordination strategy on real UAVs. In order to demonstrate the utility of the approach, an example of the platform has been developed and an example application for the search of a source of pollution through the use of autonomous instrumented UAVs has been implemented.