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Improvement of XRCE-DDS Communication System for Swarm Environment of Unmanned Vehicles Based on PX4-ROS2
Hyeongyu Lee, Doyoon Kim, Dongoo Lee, Sungtae Moon
http://doi.org/10.5626/JOK.2025.52.3.227
Recently, swarm vehicles are being used in various fields due to the development of swarm operation technology. Among various systems that constitute a swarm vehicle, PX4-ROS2 connects the PX4, an unmanned vehicle control computer, and ROS2 for mission execution through XRCE-DDS (eXtremely Resource Constrained Environments-Data Distribution Service), an open-source-based software that supports real-time communication between devices. However, the operation of swarm unmanned vehicles based on a wireless network using a distributed service of XRCE-DDS is not optimized. It requires communication optimization work for stable operation. In this paper, we analyzed the XRCE-DDS communication structure operating in PX4-ROS2 and proposed a new Discovery mechanism to solve the problem of increased communication volume due to increased nodes during swarm operation. We present a method to enhance the stability and scalability of communication and verified it through simulation.
Outdoor Swarm Flight System Based on the RTK-GPS
SungTae Moon, DoYoon Kim, DonGoo Lee
http://doi.org/10.5626/JOK.2020.47.3.328
The increasing interest in drones has generated new application systems in the various areas. Especially, the drone-show performance applying the swarm flight system impressed many people globally at the Pyeongchang Winter Olympics. However, this technology is Intel technology, not domestic proprietary technology. Thus, the KARI (Korean Aerospace Research Institute) has developed the swarm flight system based on the RTK-GPS and verified the system by showing the 100 drone-show at the independence movement day. In this paper, the propose a robust swarm flight system which can switch the mode according to the RTK-GPS condition. The efficient precise position estimation, communication system, and how to develop the scenario are explained.
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