Classifications, applications, and design challenges of drones: A review

We present a novel, deeply embedded robotics middleware and programming environment. It uses a multithreaded, publish-subscribe design pattern and provides a Unix-like software interface for micro controller applications. We improve over the state of the art in deeply embedded open source systems by providing a modular and standards-oriented platform. Our system architecture is centered around a publish-subscribe object request broker on top of a POSIX application programming interface. This allows to reuse common Unix knowledge and experience, including a bash-like shell. We demonstrate with a vertical takeoff and landing (VTOL) use case that the system modularity is well suited for novel and experimental vehicle platforms. We also show how the system architecture allows a direct interface to ROS and to run individual processes either as native ROS nodes on Linux or nodes on the micro controller, maximizing interoperability. Our microcontroller-based execution environment has substantially lower latency and better hardware connectivity than a typical Robotics Linux system and is therefore well suited for fast, high rate control tasks.

/pdf/px4-a-node-based-multithreaded-open-source-robotics-50m35kksn5.pdf

PX4: A node-based multithreaded open source robotics framework for deeply embedded platforms

This paper presents a survey of the autopilot systems for small or micro unmanned aerial vehicles (UAVs). The objective is to provide a summary of the current commercial, open source and research autopilot systems for convenience of potential small UAV users. The UAV flight control basics are introduced first. The radio control system and autopilot control system are then explained from both the hardware and software viewpoints. Several typical off-the-shelf autopilot packages are compared in terms of sensor packages, observation approaches and controller strengths. Afterwards some open source autopilot systems are introduced. Conclusion is made with a summary of the current autopilot market and a remark on the future development.

/pdf/autopilots-for-small-unmanned-aerial-vehicles-a-survey-5ap69uey7g.pdf

Autopilots for small unmanned aerial vehicles: A survey

This article presents a survey on publicly available open-source projects (OSPs) on quadrotor unmanned aerial vehicles (UAVs). Recently, there has been increasing interest in quadrotor UAVs. Exciting videos have been published on the Internet by many research groups and have attracted much attention from the public [1][7]. Relatively simple structures of quadrotors has promoted interest from academia, UAV industries, and radio-control (RC) hobbyists alike. Unlike conventional helicopters, swashplates, which are prone to failure without constant maintenance, are not required. Furthermore, the diameter of individual rotors can be reduced as a result of the presence of four actuators [8].

Build Your Own Quadrotor: Open-Source Projects on Unmanned Aerial Vehicles

Micro- and nano air vehicles are defined as “extremely small and ultra-lightweight air vehicle systems” with a maximum wingspan length of 15 cm and a weight less than 20 grams. Here, we provide a review of the current state of the art and identify the challenges of design and fabrication. Different configurations are evaluated, such as fixed wings, rotary wings, and flapping wings. The main advantages and drawbacks for each typology are identified and discussed. Special attention is given to rotary-wing vehicles (helicopter concept); including a review of their main structures, such as the airframe, energy storage, controls, and communications systems. In addition, a review of relevant sensors is also included. Examples of existing and future systems are also included. Micro- and nano-vehicles with rotary wings and rechargeable batteries are dominating. The flight times of current systems are typically around 1 hour or less due to the limited energy storage capabilities of the used rechargeable batteries. Fuel cells and ultra capacitors are promising alternative energy supply technologies for the future. Technology improvements, mainly based on micro- and nanotechnologies, are expected to continue in an evolutionary way to improve the capabilities of future micro- and nano air vehicles, giving improved flight times and payload capabilities.

/pdf/micro-and-nano-air-vehicles-state-of-the-art-4bdbqcldt3.pdf

Micro- and Nano-Air Vehicles: State of the Art

When attending Micro Air Vehicle (MAV) competitions, one notices a majority of teams concentrating on the vehicle itself, be it from an aerodynamics, structures, propulsion or control point of view. A total system approach is not often seen, though MAVs pose a very unique challenge to the system designer who must propose a platform and architecture to support the autopilot, the communications, user interface, simulation, analysis and tuning tools, flight plan management and many other details. Since its inception, the Paparazzi team considered the MAV as a system and used a bottom to top approach focusing on safety, robustness and usability of the system as a whole. This paper describes the Paparazzi project approach: The complete and integrated design of hardware, software, and airframe into a robust and reliable system, proven by formal analytical methods and thousands of flight hours.

https://hal-enac.archives-ouvertes.fr/hal-01004157/document

The Paparazzi Solution

This paper presents an overview of the Paparazzi UAV system and its recent use in scientific research. Paparazzi is an open-source project that aims at providing a complete solution to fly fixedwing aircraft and rotorcrafts. Several hardware boards and sensors are also developed within the project. Since several years, it has been used by various institutes for scientific research. The recent use on scientific research for meteorological studies is presented as an example.

/pdf/using-the-paparazzi-uav-system-for-scientific-research-16zvx9giy0.pdf

Using the Paparazzi UAV System for Scientific Research

A conceptual design and performance analysis method (Long Endurance Conceptual Design Program) for long-endurance mini-micro UAVs is presented. Recent long endurance oriented results and achievements are looked through for possible usage for mini-micro scale. A real mission is also explained, whose objective is to accomplish a 200 km straight line flight autonomously with the smallest electric platform possible. Design phases of the platform by using the presented method, flight tests and comparison of the results are included. On the following section a design study for long-endurance MAVs using a hybrid energy system combining solar energy and Lithium batteries and the effect of size and cruise speed are investigated. We demonstrate that under a certain size, the use of solar energy becomes not useful at all. We conclude with the study of a candidate design for EMAV09 Endurance Mission in the light of the rules and scoring of the mission.

https://journals.sagepub.com/doi/pdf/10.1260/175682909790291483

Towards a Long Endurance MAV

This paper presents the Paparazzi Unmanned Aircraft Vehicles (UAV) system and its use for designing novel interaction techniques for human-drone interactions. Paparazzi is a complete system of open source hardware and software for UAVs, including both the airborne autopilot as well as complete ground station mission planning and monitoring software utilizing a bi-directional data link for telemetry and control. We describe three examples of interactive systems built with Paparazzi to illustrate its capabilities to create new interactive UAV systems: augmented-reality glasses for safety pilots, adaptable interactions for pilots with disabilities and embedded interactions.

https://hal.archives-ouvertes.fr/hal-02128390/document

Michel Gorraz

Papers

The Paparazzi Solution

Using the Paparazzi UAV System for Scientific Research

Towards a Long Endurance MAV

Designing human-drone interactions with the Paparazzi UAV System