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A Multilevel Architecture for Autonomous UAVs

Department of Information Engineering, University of Florence, Via Santa Marta 3, 50139 Firenze, Italy
Author to whom correspondence should be addressed.
Academic Editors: George Nikolakopoulos, Diego González-Aguilera and Pablo Rodríguez-Gonzálvez
Drones 2021, 5(3), 55;
Received: 14 May 2021 / Revised: 25 June 2021 / Accepted: 28 June 2021 / Published: 30 June 2021
(This article belongs to the Collection Feature Papers of Drones)
In this paper, a multilevel architecture able to interface an on-board computer with a generic UAV flight controller and its radio receiver is proposed. The computer board exploits the same standard communication protocol of UAV flight controllers and can easily access additional data, such as: (i) inertial sensor measurements coming from a multi-sensor board; (ii) global navigation satellite system (GNSS) coordinates; (iii) streaming video from one or more cameras; and (iv) operator commands from the remote control. In specific operating scenarios, the proposed platform is able to act as a “cyber pilot” which replaces the role of a human UAV operator, thus simplifying the development of complex tasks such as those based on computer vision and artificial intelligence (AI) algorithms which are typically employed in autonomous flight operations. View Full-Text
Keywords: UAV; autonomous flight; indoor positioning; cyber pilot; sensor fusion UAV; autonomous flight; indoor positioning; cyber pilot; sensor fusion
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MDPI and ACS Style

Bigazzi, L.; Basso, M.; Boni, E.; Innocenti, G.; Pieraccini, M. A Multilevel Architecture for Autonomous UAVs. Drones 2021, 5, 55.

AMA Style

Bigazzi L, Basso M, Boni E, Innocenti G, Pieraccini M. A Multilevel Architecture for Autonomous UAVs. Drones. 2021; 5(3):55.

Chicago/Turabian Style

Bigazzi, Luca, Michele Basso, Enrico Boni, Giacomo Innocenti, and Massimiliano Pieraccini. 2021. "A Multilevel Architecture for Autonomous UAVs" Drones 5, no. 3: 55.

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