Li, Mickey;
Clarke, Robert;
Richards, Arthur;
(2022)
Starling: Containerisation Architecture for Scalable Local Development, Deployment and Testing of Multi-UAV Systems.
In:
Proceedings of the RSS 2022 WORKSHOP. Envisioning an Infrastructure for Multi-Robot and Collaborative Autonomy Testing and Evaluation.
(pp. pp. 1-5).
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Abstract
A major challenge of UAV research is facilitating the local development, deployment and testing of multi-UAV systems. Inspired by cloud computing, this work proposes Starling, a fullstack, compositional, containerised UAV infrastructure utilising ROS2, Gazebo, PX4, Docker and Kubernetes. By modelling individual UAVs as nodes in a compute cluster, our architecture is natively scalable, fault tolerant and allows for the flexible deployment of custom applications in both simulation and in reality. These technologies allow us to facilitate reproducible research while provide a lower barrier of entry for potential users, as well as the reuse of flight hardware for multiple projects. A multi-UAV path planning case study is presented to demonstrate the streamlined workflow of developing a controller from simulation to reality.
| Type: | Proceedings paper |
|---|---|
| Title: | Starling: Containerisation Architecture for Scalable Local Development, Deployment and Testing of Multi-UAV Systems |
| Event: | Robotic Science and Systems 2022 Workshop on Envisioning an Infrastructure for Multi-Robot and Collaborative Autonomy Testing and Evaluation |
| Location: | New York, United States |
| Open access status: | An open access version is available from UCL Discovery |
| Publisher version: | https://raaslab.org/rss2022/#overview |
| Language: | English |
| Additional information: | This version is the version of record. For information on re-use, please refer to the publisher's terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Civil, Environ and Geomatic Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10191690 |
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