Communication Architecture for Autonomous Aerial Traffic Management

Paul, S and Jana, S and Chopra, O and Ratnoo, A and Ghose, D (2022) Communication Architecture for Autonomous Aerial Traffic Management. In: 7th IEEE International Conference on Recent Advances and Innovations in Engineering, ICRAIE 2022, 1-3 December 2022, Mangalore, pp. 298-303.

PDF icraie_2022.pdf - Published Version Restricted to Registered users only Download (5MB) | Request a copy

Abstract

This paper presents a multi-agent communication paradigm for autonomous aerial traffic management. Multi-drone missions based on the existing ROS-based communication architecture heavily depend on the master node, and communication delay between nodes might not be sufficient for efficient inter-agent collision avoidance. In this paper, we have proposed a hybrid ROS-ROS2 communication architecture for centralised traffic management with the provision of distributed communication for collision avoidance and conflict resolution at intersections. The base station server responsible for traffic management runs on a ROS2 environment, ROS is used for communication with each onboard autopilot, and an intermediate add-on-module interfaces ROS and ROS2 messages. The content of the communication packets between the different nodes is decided based on the design requirements. Overall communication architecture is validated through simulation and hardware experiments. © 2022 IEEE.

Item Type:	Conference Paper
Publication:	7th IEEE International Conference on Recent Advances and Innovations in Engineering, ICRAIE 2022 - Proceedings
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Antennas; Autonomous agents; Collision avoidance, Collisions avoidance; Communication architectures; Communication delays; Communication paradigm; DDS; MAVROS; Multi-agent communications; Node-delay; ROS2; Traffic management, Multi agent systems
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	28 Mar 2023 06:42
Last Modified:	28 Mar 2023 06:42
URI:	https://eprints.iisc.ac.in/id/eprint/81196

Actions (login required)

View Item