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Talk-23: From Hulls to Hovering: MOOS-IvP on Multirotor UAS
Jacob Crossman, Michael Novitzky
United States Military Academy (USMA), Robotics Research Center
Unmanned aircraft systems (UAS) lack a proliferated, open-source swarming autonomy stack and corresponding ground control interface. MOOS-IvP could fill this gap. This research continued Dr. Misha Novitzky's and Dr. Dongbin Kim's work adapting MOOS-IvP to multirotor UAS running PX4 firmware and the MAVLink communication protocol. It introduces a novel, UAS-tailored ground control interface which utilizes aerial-specific state variables. In addition, this research contributes additional capabilities to a MOOS-IvP to PX4 protocol translation layer, which includes arming the necessary commands for takeoff and landing. These contributions, validated in a simulated environment, establish a viable, domain-agnostic approach to cross-platform backseat autonomy and prove the robustness of MOOS-IvP.
Categories:
- UAVs