The Software Architecture of the Berkeley UAV Platform
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This paper details the software architecture of the Berkeley Unmanned Aerial Vehicle (UAV) Platform. Developed over the course of three years, this platform has successfully demonstrated autonomous vision-based navigation and obstacle avoidance. A software architecture has been developed to allow for collaborative control concepts to be examined. This modular architecture has been shown to be effective for use in allowing a team of UAVs to collaboratively perform a set of missions. The performance of the architecture was demonstrated using 3 UAVs to perform autonomous collaborative patrolling and vision-based navigation.©2006 IEEE.
author list (cited authors)
Tisdale, J., Ryan, A., Zennaro, M., Xiao, X., Caveney, D., Rathinam, S., Hedrick, J. K., & Sengupta, R.