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\wikidoc{file=Proj.Skywalker}
\wikidoc{auth=mikerb@mit.edu}

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\section*{Project Skywalker}
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The project involves the development and deployment of {\em fixed-wing
  Unmanned Aerial Vehicles (UAVs)}, specifically the {\em Skywalker
  X8}, for {\em rapid detection and management of wildfires}. The goal
is to adapt the MOOS-IvP middleware, originally designed for marine
environments, to coordinate cooperative behaviors among UAVs during
wildfire detection missions. The UAVs collaborate autonomously to
optimize search areas and ensure effective detection of wildfires
using onboard sensors developed by the {\em Rainsdrops
  team}, \urlx{https://www.raindrops-wildfire.com}

\vspace{0.1in}
\noindent
The project is ongoing since August 2024 and is conducted in
collaboration with the {\em NTNU UAV Lab}. It is part of efforts to
enhance autonomous UAV missions in emergency response scenarios,
leveraging ArduPilot software and the MOOS-IvP codebase. Key tasks
include developing communication systems, cooperative search
algorithms, simulations, and conducting flight tests to validate the
system's effectiveness.

\vspace{0.1in}
\noindent
The project aims to deliver scalable solutions for environmental
monitoring and emergency response, offering a more lightweight and
efficient alternative to resource-heavy frameworks like
ROS. Additionally, it seeks to achieve a higher level of automation
and coordination than current systems, such as the LSTS
Toolchain

\vspace{0.1in}
\noindent
\urlx{https://www.sciencedirect.com/science/article/pii/S1474667016305870},

\vspace{0.1in}
\noindent
enhancing the overall effectiveness of UAV operations in critical
situations.

\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.8\textwidth]{figures/skywalker.png}
  \label{fig_one}
  \caption{Field trials with the Skywalker X8, October 2024, Norway}
\end{figure}

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%\section*{Quick Facts}
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\footnotesize
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\begin{longtable}{|r|p{0.76\textwidth}|} \hline

  \var{Status:}   &amp; Ongoing since August 2024 \\ \hline 
  \var{People:}   &amp; Steve Nomeny, Tor Arne Johansen (PI), Mike Benjamin (PI) \\ \hline 
  \var{Sponsors}: &amp; NTNU UAV Lab, Raindrops \\ \hline 
  \var{Software}: &amp; MOOS-IvP, \urlx{https://moos-ivp.org} \\ \hline 
                  &amp; ArduPilot, \urlx{https://ardupilot.org/dev} \\ \hline 
                  &amp; pArduBridge, (Steve Nomeny) \\ \hline 
  \var{Robots}:   &amp; Skywalker X8 \\ \hline 
                  &amp; \urlx{https://www.uavmodel.com/products/skywalker-x8-2122mm-uav-fixed-wing} \\ \hline 

  \var{Status}: &amp; Ongoing since Sep 2022 \\ \hline
  \var{Other Hardware}: &amp; Cube Orange Autopilot \\ \hline
                        &amp; \urlx{https://ardupilot.org/plane/docs/common-thecubeorange-overview.html}  \\ \hline
                        &amp; ODROID Payload Computer \\ \hline
                        &amp; \urlx{https://wiki.odroid.com/odroid-xu4/odroid-xu4} \\ \hline
  \var{Related Project}: &amp; MOOS-IvP Swarm Toolbox \\ \hline
  
\end{longtable}
\normalsize

\vspace{0.1in}
\noindent
In this project, a new MOOSApp has been developed, \var{pArduBridge},
responsible for establishing communication with ArduPilot. The
application utilizes a forked and modified version of \var{MAVSDK}, which
implements \var{MAVLink} communication protocols, and connects to ArduPilot
running the ArduPlane software. This setup enables pArduBridge to
access and read the UAVâ€™s state, position, velocity, and parameter
status, which can then be processed, modified, or published to the
MOOS Database (MOOSDB). This design effectively creates an abstraction
layer between the ArduPilot and the MOOS community.  Since
\var{ArduPlane} is a specific variant of the \var{ArduPilot} firmware,
\var{pArduBridge}, with minor modifications, could also be adapted to
operate with other \var{ArduPilot} variants, such as Copter, Rover,
and Submarine.


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\noindent
\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.8\textwidth]{figures/telemetry_data_numeric_2d_position_survey.png}
\label{fig_two}
  \caption{Telemetry Data from Field trials with the Skywalker X8, October 2024, Norway}
\end{figure}

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\section*{Related Work}

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