https://github.com/kumarrobotics/air_router
https://github.com/kumarrobotics/air_router
Last synced: about 1 year ago
JSON representation
- Host: GitHub
- URL: https://github.com/kumarrobotics/air_router
- Owner: KumarRobotics
- License: bsd-3-clause
- Created: 2023-03-01T03:17:50.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2023-11-10T19:53:36.000Z (over 2 years ago)
- Last Synced: 2024-11-07T04:37:37.030Z (over 1 year ago)
- Language: Python
- Size: 6.46 MB
- Stars: 4
- Watchers: 5
- Forks: 0
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
air_router
---------
air_router replaces the waypoint mission following in PX4-based flight controllers for a high-altitude robot. We use it to maximize communication in a multi-robot setting, where the aerial robot can fly over ground robots and act as a data mule.
## Instructions
To use this node, you should create a QGC mission with the following
characteristics:
1. We take the take off waypoint as the origin (command 22). Please be sure to
align this takeoff point with your image origin.
2. Be sure to create **only one** fence (inclusion fence), and be sure that all the waypoints are
within the fence.
3. You can create as many *no fly* zones as you want (exclusion fences).
## Citation
If you find air_router useful, please cite:
```
@INPROCEEDINGS{cladera2024enabling,
author={Cladera, Fernando and Ravichandran, Zachary and Miller, Ian D. and Ani Hsieh, M. and Taylor, C. J. and Kumar, Vijay},
booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
title={{Enabling Large-scale Heterogeneous Collaboration with Opportunistic Communications}},
year={2024},
pages={2610-2616},
doi={10.1109/ICRA57147.2024.10611469}
}
```