P14 - An open architecture for networked mobile sensor platforms
- Event
- iCCC2024 - iCampµs Cottbus Conference
2024-05-14 - 2024-05-16
Cottbus - Band
- Poster
- Chapter
- Mobilität
- Author(s)
- R. Cortes Martinez, O. Archila, J. Schiffer - Brandenburgische Technische Universität Cottbus-Senftenberg, Cottbus
- Pages
- 161 - 164
- DOI
- 10.5162/iCCC2024/P14
- ISBN
- 978-3-910600-00-3
- Price
- free
Abstract
To unfold their full potential, many modern and future industrial applications, require high-performing, agile, and smart sensing systems. For that purpose, networked mobile sensor platforms (NMSPs) comprising multiple sensing agents represent a promising framework. We present a low-cost open architecture for NMSPs (OA4NMSPs) based on unmanned aerial vehicles (UAVs) which enables embedded complex algorithms to run in real-time and communicate with other UAVs or systems, thereby carrying out collaborative work. The architecture is divided into three layers: (i) Low-level control, (ii) Process management, and (iii) Communication. The main technologies employed comprise the flight controller unit (FCU) for the low-level control, the onboard computer (OBC) with ROS 2 framework for the process manager, and the MAVROS package for the administration of the communication among the devices. Core details about the implementation of the OA4NMSPs are provided. The performance is demonstrated in an experimental scenario with two UAVs.