| dc.contributor.author | Jesus Martin | |
| dc.contributor.author | Sergio Esteban | |
| dc.contributor.other | Aerospace Engineering Department, University of Seville, Camino de los Descubrimientos s/n, 41092 Sevilla, Spain | |
| dc.contributor.other | Aerospace Engineering Department, University of Seville, Camino de los Descubrimientos s/n, 41092 Sevilla, Spain | |
| dc.date.accessioned | 2025-08-27T13:59:32Z | |
| dc.date.accessioned | 2025-10-08T08:35:24Z | |
| dc.date.available | 2025-10-08T08:35:24Z | |
| dc.date.issued | 01-08-2025 | |
| dc.identifier.uri | http://digilib.fisipol.ugm.ac.id/repo/handle/15717717/36135 | |
| dc.description.abstract | The integration of diverse robotic platforms with varying payload capacities is a critical challenge in swarm robotics and autonomous systems. This paper presents a robust, modular framework designed to manage and coordinate heterogeneous swarms of autonomous vehicles, including terrestrial, aerial, and aquatic platforms. Built on the Robot Operating System (ROS) and integrated with C++ and ArduPilot, the framework enables real-time communication, autonomous decision-making, and mission execution across multi-domain environments. Its modular design supports seamless scalability and interoperability, making it adaptable to a wide range of applications. The proposed framework was evaluated through simulations and real-world experiments, demonstrating its capabilities in collision avoidance, dynamic mission planning, and autonomous target reallocation. Experimental results highlight the framework’s robustness in managing UAV swarms, achieving 100% collision avoidance success and significant operator workload reduction, in the tested scenarios. These findings underscore the framework’s potential for practical deployment in applications such as disaster response, reconnaissance, and search-and-rescue operations. This research advances the field of swarm robotics by offering a scalable and adaptable solution for managing heterogeneous autonomous systems in complex environments. | |
| dc.language.iso | EN | |
| dc.publisher | MDPI AG | |
| dc.subject.lcc | Motor vehicles. Aeronautics. Astronautics | |
| dc.title | ROS-Based Multi-Domain Swarm Framework for Fast Prototyping | |
| dc.type | Article | |
| dc.description.keywords | swarming | |
| dc.description.keywords | UAVs | |
| dc.description.keywords | formation flight | |
| dc.description.keywords | manned–unmanned teaming | |
| dc.description.doi | 10.3390/aerospace12080702 | |
| dc.title.journal | Aerospace | |
| dc.identifier.e-issn | 2226-4310 | |
| dc.identifier.oai | oai:doaj.org/journal:b04619d59017471ea01c93322dd4c373 | |
| dc.journal.info | Volume 12, Issue 8 | |
