CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications

Authors:: Martin Scheiber, Alessandro Fornasier, Roland Jung, Christoph Böhm, Rohit Dhakate, Christian Stewart, Jan Steinbrener, Stephan Weiss, and Christian Brommer
Publisher:: IEEE Robotics and Automation Letters (RA-L)
Year:: February 2022

This research paper presents the CNS Flight Stack, a high-level flight stack for unmanned aerial vehicles (UAVs) designed to enable safe and fully autonomous long-duration missions. The framework is platform-agnostic, uses low compute complexity, and can be extended with other sensor modalities, integrity checks, and mission modules. The CNS Flight Stack has been tested in over 450 real-world flights, making it a valuable tool for the UAV community, and it is freely available for external mission planners and localization modules.

Citation

Citation key:: Scheiber2022

@article{Scheiber2022,
title = {CNS Flight Stack for Reproducible,  Customizable,  and Fully Autonomous Applications},
volume = {7},
ISSN = {2377-3774},
url = {http://dx.doi.org/10.1109/LRA.2022.3196117},
DOI = {10.1109/lra.2022.3196117},
number = {4},
journal = {IEEE Robotics and Automation Letters},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
author = {Scheiber,  Martin and Fornasier,  Alessandro and Jung,  Roland and Bohm,  Christoph and Dhakate,  Rohit and Stewart,  Christian and Steinbrener,  Jan and Weiss,  Stephan and Brommer,  Christian},
year = {2022},
month = Oct,
pages = {11283–11290}
}

Citation

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