Aerostack2: A Software Framework for Developing Multi-robot Aerial Systems

• DOI: 10.48550/arxiv.2303.18237
• Publication Date: 2023-01-01
• Authors: Fernandez-Cortiza...; Molina, Martin; Arias-Perez, Pedro; Perez-Segui, Rafael; Perez-Saura, David; Campoy, Pascual
• Keywords: FOS: Computer and information sciences; Computer Science - Robotics; FOS: Electrical engineering, electronic engineering, information engineering; Systems and Control (eess.SY); Electrical Engineering and Systems Science - Systems and Control; Robotics (cs.RO)

Submitted to IEEE Robotics and Automation Letters<br/>The development of autonomous aerial systems, particularly for multi-robot configurations, is a complex challenge requiring multidisciplinary expertise. Unlike ground robotics, aerial robotics has seen limited standardization, leading to fragmented development efforts. To address this gap, we introduce Aerostack2, a comprehensive, open-source ROS 2 based framework designed for creating versatile and robust multi-robot aerial systems. Aerostack2 features platform independence, a modular plugin architecture, and behavior-based mission control, enabling easy customization and integration across various platforms. In this paper, we detail the full architecture of Aerostack2, which has been tested with several platforms in both simulation and real flights. We demonstrate its effectiveness through multiple validation scenarios, highlighting its potential to accelerate innovation and enhance collaboration in the aerial robotics community.<br/>