Step 1
cd into the MRS_UAV three_drones system
./tmux/start.shStep2
Ctrl+t in the terminal -
roscd example_multi_uav_coordination
roslaunch example_multi_uav_coordination multi_uav_coordination.launchWhen ready, call the service prepared in the bottom terminal window for generating the trajectory:
rosservice call /$UAV_NAME/multi_uav_coordination/start 3.0uav1 uav2 uav3
Description
Key Features:
Shared Odometry & Telemetry: Subscribes to UAV state topics (mrs_uav_status/uav_status_short) to track the position, altitude, and heading of all drones in the swarm. Shares detection messages (/disc_detection) between UAVs using ROS publishers and subscribers, enabling collaborative awareness.
Vision-based Detection:
Uses the onboard RGBD camera feed and OpenCV (cv2) to detect gray circular discs in the environment. Once confirmed, detection is broadcast to other UAVs in the network.
Path Planning & Trajectories:
Implements multiple trajectory planners (MRTA): Circle trajectory: UAV follows a circular path around a defined center. Rectangle trajectory: UAV scans an area in a rectangular pattern. Sweep trajectory: UAV performs a sweeping lawnmower-style scan of an area. Targeted path: UAV flies directly to a given (x, y, z) coordinate. All paths are generated as PathSrvRequest messages and executed via ROS services.
Multi-Agent Coordination: When a disc is detected by one UAV, other UAVs automatically reposition into formation relative to the detecting UAV. Formation offsets are dynamically calculated (line or circular distribution depending on swarm size). Continuous re-broadcast ensures swarm-wide synchronization.
Visualization & Diagnostics:
Publishes annotated camera images with detection overlays for debugging and visualization. Logs UAV status, detection events, and path execution progress.
Lin1: https://www.youtube.com/watch?v=eLfoDcs_18o Link2: https://www.youtube.com/watch?v=kvYuOkeFVt0
This project builds on the MRS UAV System, developed by theMulti-Robot Systems (MRS) Group at the Czech Technical University. All credit for the underlying multi-UAV autonomy stack belongs to the original authors; this repository adapts and extends their work.
- Original repository: ctu-mrs/mrs_uav_system
- Project website: MRS UAV System