Title: Demonstration of wireless synchronisation methods in autonomously controlled fleet of drones

Authors: Christopher Lai; Harris Song; Aaron Madrigal; Michael Youssef; Borick Lieng; Mohamed Hamida; Quyen Tran; Phu Ngo; Bethany Chang; Steven Dobbs; Zhen Yu

Addresses: Department of Electrical and Computer Engineering, California State Polytechnic University, Pomona, CA 91768, USA ' Department of Electrical and Computer Engineering, California State Polytechnic University, Pomona, CA 91768, USA ' Department of Electrical and Computer Engineering, California State Polytechnic University, Pomona, CA 91768, USA ' Department of Electrical and Computer Engineering, California State Polytechnic University, Pomona, CA 91768, USA ' Department of Electrical and Computer Engineering, California State Polytechnic University, Pomona, CA 91768, USA ' Department of Electrical and Computer Engineering, California State Polytechnic University, Pomona, CA 91768, USA ' Department of Electrical and Computer Engineering, California State Polytechnic University, Pomona, CA 91768, USA ' Department of Electrical and Computer Engineering, California State Polytechnic University, Pomona, CA 91768, USA ' Department of Electrical and Computer Engineering, California State Polytechnic University, Pomona, CA 91768, USA ' Department of Aerospace Engineering, California State Polytechnic University, Pomona, CA 91768, USA ' Department of Electrical and Computer Engineering, California State Polytechnic University, Pomona, CA 91768, USA

Abstract: This paper describes methods used in synchronising the behaviour of multiple autonomous flight vehicles utilising custom external hardware and firmware injected into current aviation flight systems. To prove the reliability and consistency of an autonomous ground-based landing sequence, a fleet of drones, each with varying capabilities and sizes, is modified to fit the landing criteria. Each drone in the fleet is controlled through a singular re-programmable controller running software developed for smooth and precise communication with a unmanned aerial vehicles (UAVs) onboard flight computer. The results of experiments performed on the landing sequence for each drone relay information about the strengths and weaknesses of the ground station landing protocol and pave the way for further innovation in autonomous landing procedures.

Keywords: UAV; unmanned aerial vehicle; drone; automated landing; wireless communication; synchronisation; DJI Tello; quadcopter; fiducial markers; computer vision; Pixhawk.

DOI: 10.1504/IJMNDI.2024.136443

International Journal of Mobile Network Design and Innovation, 2024 Vol.11 No.1, pp.1 - 10

Received: 11 Sep 2023
Accepted: 16 Sep 2023
Published online: 01 Feb 2024 *

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