Remote Autonomy for Multiple Small Lowcost UAVs in GNSS-denied Search and Rescue Operations

TL;DR

This paper introduces a lightweight, autonomous UAV system using consumer-grade drones controlled via an Android app, enabling a single operator to manage multiple UAVs in GNSS-denied search and rescue scenarios.

Contribution

It presents a novel autonomous flight system for low-cost consumer drones with onboard obstacle avoidance and a ground station for multi-UAV supervision and environment modeling.

Findings

Successful autonomous operation of lightweight consumer drones.

Effective multi-UAV management and environment mapping.

Enhanced situational awareness in GNSS-denied environments.

Abstract

In recent years, consumer-grade UAVs have been widely adopted by first responders. In general, they are operated manually, which requires trained pilots, especially in unknown GNSS-denied environments and in the vicinity of structures. Autonomous flight can facilitate the application of UAVs and reduce operator strain. However, autonomous systems usually require special programming interfaces, custom sensor setups, and strong onboard computers, which limits a broader deployment. We present a system for autonomous flight using lightweight consumer-grade DJI drones. They are controlled by an Android app for state estimation and obstacle avoidance directly running on the UAV's remote control. Our ground control station enables a single operator to configure and supervise multiple heterogeneous UAVs at once. Furthermore, it combines the observations of all UAVs into a joint 3D environment model for improved situational awareness.