TrackerBots

TrackerBots Project Code and Documentation.

Introduction

TrackerBots is an open source framework to develop a fully autonomous system for Unmanned Aerial Vehicles (UAVs) to track multiple radio-tagged objects. This repository is provided as part of the following papers :

1. Nguyen H. V., Chen F., Chesser J., Rezatofighi H., Ranasinghe D. (2020). LAVAPilot: Lightweight UAVTrajectory Planner with Situational Awarenessfor Embedded Autonomy to Track and Locate Radio-tags. IEEE/RSJ International Conference on Intelligent Robots and Systems 2020. Paper. Demo video
2. Nguyen H. V., Chesser M., Koh L.P, Rezatofighi S. H., & Ranasinghe D. C. (2019). TrackerBots: Autonomous unmanned aerial vehicle for real‐time localization and tracking of multiple radio‐tagged animals. Journal of Field Robotics. Paper. Demo video.
3. Nguyen H. V., Rezatofighi S.H., Taggart D., Ostendorf B., Ranasinghe D. C. (2018). TrackerBots: Software in the Loop Study of Quad-Copter Robots for Locating Radio-tags in a 3D Space. Australasian Conference on Robotics and Automation 2018. Paper. Demo video.

Cite using:

@inproceedings{nguyen2020LAVAPilot,
title={LAVAPilot: Lightweight UAVTrajectory Planner with Situational Awarenessfor Embedded Autonomy to Track and Locate Radio-tags},
author={Hoa Van Nguyen, Fei Chen, Joshua Chesser, Hamid Rezatofighi and Damith Ranasinghe},
booktitle={Proceedings of the  IEEE/RSJ  International  Conference  on  Intelligent  Robots  and  Systems 2020},
year={2020}
}

@article{nguyen2019trackerbots,
  title={TrackerBots: Autonomous unmanned aerial vehicle for real‐time localization and tracking of multiple radio‐tagged animals},
  author={Nguyen, Hoa Van and Chesser, Michael and Koh, Lian Pin and Rezatofighi, S Hamid and Ranasinghe, Damith C},
  journal={Journal of Field Robotics},
  year={2019},
  volume={36},
  number={3},
  pages={617--635},
}

@inproceedings{nguyen2018trackerbots,
  title={TrackerBots: Software in the Loop Study of Quad-Copter Robots for
Locating Radio-tags in a 3D Space},
  author={Nguyen, Hoa Van and Rezatofighi, S. Hamid  and Taggart, David and Ostendorf, Bertram  and Ranasinghe, Damith C},
  booktitle={Australasian Conference on Robotics and Automation 2018},
  year={2018},
  month = {Dec},
  pages={304--313},
  isbn = {978-1-5108-7958-4},
  numpages = {10},
  address = {Lincoln, New Zealand},
}

Built With

• MATLAB - Tracking and Planning Algorithm.
• Rust - Embedded System Management.

Authors

• Hoa Nguyen: hoavan.nguyen@adelaide.edu.au
• Michael Chesser: michael.chesser@adelaide.edu.au

Main Program

• IROS 2020: A MATLAB tracking and planning algorithm for the LAVAPilot: Lightweight UAVTrajectory Planner with Situational Awarenessfor Embedded Autonomy to Track and Locate Radio-tags paper.
• JoFR 2019: A MATLAB tracking and planning algorithm for the TrackerBots: Autonomous UAV for Real-Time Localization and Tracking of Multiple Radio-Tagged Animals paper.
• ACRA 2018: A MATLAB tracking and planning algorithm for the TrackerBots: Software in the Loop Study of Quad-Copter Robots for Locating Radio-tags in a 3D Space paper.

Auxiliary Components

• animal_detector: Signal processing library to detect the pulse emitted from the VHF radio tags.
• common: A common library used for pulse_server and telemetry_host
• io_proxy: The input/output proxy tool for multiplexing Mavlink messages between different I/O connection
• pulse_server: A full signal processing module installed on Intel Edison board, which communicates with a SDR to detect and analyze transmitted pulses from radio tags.
• services: contains a service file for pulse_server that to run automatically on the Intel Edison board when it restarts.
• telemetry_host: An interface program which provides REST api to communicate betweentracking and planning algorithm written in MATLAB and the UAV.

License

This project is licensed under the MIT License - see the LICENSE.md file for details