A Modular and Scalable System Architecture for Heterogeneous UAV Swarms Using ROS 2 and PX4-Autopilot

TL;DR

This paper presents a modular, scalable UAV swarm system architecture using ROS 2 and PX4-Autopilot, enabling seamless hardware integration, flexible communication, and advanced swarm functionalities verified in simulation and real-world tests.

Contribution

It introduces a novel modular architecture for heterogeneous UAV swarms that supports diverse hardware, flexible communication, and integrated computer vision within ROS 2 and PX4 frameworks.

Findings

Successful simulation of swarm behaviors in Gazebo

Real-world demonstration of UAV swarm coordination

Effective integration of computer vision for UAV detection

Abstract

In this paper a modular and scalable architecture for heterogeneous swarm-based Counter Unmanned Aerial Systems (C-UASs) built on PX4-Autopilot and Robot Operating System 2 (ROS 2) framework is presented. The proposed architecture emphasizes seamless integration of hardware components by introducing independent ROS 2 nodes for each component of a Unmanned Aerial Vehicle (UAV). Communication between swarm participants is abstracted in software, allowing the use of various technologies without architectural changes. Key functionalities are supported, e.g. leader following and formation flight to maneuver the swarm. The system also allows computer vision algorithms to be integrated for the detection and tracking of UAVs. Additionally, a ground station control is integrated for the coordination of swarm operations. Swarm-based Unmanned Aerial System (UAS) architecture is verified within a Gazebo simulation environment but also in real-world demonstrations.