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ArduSoar: an Open-Source Thermalling Controller for Resource-Constrained Autopilots

02/22/2018

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by Samuel Tabor, et al.

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Autonomous soaring capability has the potential to significantly increase time aloft for fixed-wing UAVs. In this paper, we introduce ArduSoar, the first soaring controller integrated into a major autopilot software suite for small UAVs. We describe ArduSoar from the algorithmic standpoint, outline its integration with the ArduPlane autopilot, and discuss tuning procedures and parameter choices for it.

Samuel Tabor
1 publication
Iain Guilliard
2 publications
Andrey Kolobov
16 publications

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