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SP is a personal project based on planning and controlling the motion of a team of surveillance drone over an area.
It has been built using ROS, and tested both on full-simulation (Gazebo) environment as well as mixed simulation-reality ones.
Performance evaluation is made by monitoring the system response two faults in two phases:
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static phase: planning is inactive, no target orders are issued.
In this phase, a good-performing system should react to faults with a minimal amount of takeoffs/landings, and minimal changes in the allocation table
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dynamic phase: planning is active, drones are moving to targets.
A good performing system should minimize takeoffs/landings, and trajectory changes. All operations should be performed without collisions between flying drones.
The video is ready, and will be uploaded on March 25th.
