air_router replaces the waypoint mission following in PX4-based flight controllers for a high-altitude robot. We use it to maximize communication in a multi-robot setting, where the aerial robot can fly over ground robots and act as a data mule.
To use this node, you should create a QGC mission with the following characteristics:
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We take the take off waypoint as the origin (command 22). Please be sure to align this takeoff point with your image origin.
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Be sure to create only one fence (inclusion fence), and be sure that all the waypoints are within the fence.
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You can create as many no fly zones as you want (exclusion fences).
If you find air_router useful, please cite:
@misc{cladera2023enabling,
title={Enabling Large-scale Heterogeneous Collaboration with Opportunistic Communications},
author={Fernando Cladera and Zachary Ravichandran and Ian D. Miller and M. Ani Hsieh and C. J. Taylor and Vijay Kumar},
year={2023},
eprint={2309.15975},
archivePrefix={arXiv},
primaryClass={cs.RO}
}