This repository serves to show my contributions to developing tools for Multi-Robot Systems group.
Manager source code
Tool source code
World_manager_demostration.mp4
Allows sending a sequence of waypoints to a drone. The click-and-pull input supplies a 2D position with a heading (a waypoint). Tool properties allow customization (height change, fly now, loop, use heading).
Implements and integrates the three most suitable coverage path planning algorithms into the MRS UAV System.
To the extent of our knowledge, this implementation is the first open-source non-discrete implementation of Morse decomposition, that can be extended with any other Morse function. The algorithm is described by Ercan U. Acar et al. in "Morse Decompositions for Coverage Tasks".
The algorithm is described by Marina Torres et al. in "Coverage path planning with unmanned aerial vehicles for 3D terrain reconstruction". As a decomposition method, Mp3 from José Fernández et al. "A practical algorithm for decomposing polygonal domains into convex polygons by diagonals" was used.
The algorithm is described by Eduard Santamaria et al. in "Path Planning for Rapid Aerial Mapping with Unmanned Aircraft Systems". The algorithm is based on approximate cellular decomposition, therefore the grid is shown in the picture below.
Displays useful information about the UAV state and sensors.
Provides a convenient interface for controlling the drone(s).
