Centralized swarming UAV using ROS for collaborative missions

Recently, UAV technology is growing rapidly. One of the technologies in the UAV is swarming. Many applications of UAV can utilize the swarming technology, such as collaborative searching, monitoring, and mapping. In this research, basic structure of swarming system was created. The objective is to develop a system with the ability to adapt to various operational conditions, such as UAV connection loss and system failure in some UAVs. In such conditions, the system should be able to generate new mission plan for each UAV based on the number of remaining UAVs. Since swarming technology can be applied to many purposes, the swarming system has to be created to accommodate various missions. For this research, ROS framework was chosen because it has been equipped with complete tools. The swarming system created was then tested using SITL simulation because it can connect to the swarming system with ease. Several simulations were performed with various number of UAV. Results show that the created swarming system was able to finish the given missions regardless of the failure in some UAVs. The more number of UAV utilized, the faster the mission can be finished.