Distributed Simulation and Middleware for Networked UAS

As a result of the advances in solid state, electronics, sensor, wireless communication technologies, as well as evolutions in the material science and manufacturing technologies, unmanned aerial vehicles (UAVs) and unmanned aerial systems (UAS) have become more accessible by civilian entities, industry, as well as academia. There is a high level of market driven standardisation in the electronics and mechanical components used on UAVs. However, the implemented software of a UAS does not exhibit the same level of standardisation and compartmentalisation. This is a major bottleneck limiting software maintenance, and software reuse across multiple UAS programs. This paper addresses the software development processes adapted by the Australian Centre for Field Robotics (ACFR) in major UAS projects. The presented process model promotes software reuse without sacrificing the reliability and safety of the networked UAS with particular emphasis on the role of distributed simulation and middleware in the development and maintenance processes.