Latency-aware and -predictable Communication with Open Protocol Stacks for Remote Drone Control

by   Marlene Böhmer, et al.

In order to create cooperating swarms of Unmanned Autonomous Vehicles (UAVs) that also interact with various other systems and devices, open and free communication systems are mandatory. This paper presents an implementation of such a communication system to incorporate the Crazyflie nano-drone as a UAV platform. The protocol stack leverages the open Predictably Reliable Real-time Transport (PRRT) protocol that adds latency-awareness and -predictability to stacks composed of standard Internet protocols. To enable the drone to receive and reply to control commands via Wi-Fi, it has been extended with a Raspberry Pi that runs two variants of the Crazybridge—a software to connect the control board to the network. To evaluate how practical this solution is for the use in control applications, the communication has been analysed with a focus on the latency properties. Our investigations show that despite using the open protocol stack—and hence opting out of specialised implementations—the resulting latencies are in the same order of magnitude (4 to 9 ms) as the latency of the proprietary link.



There are no comments yet.


page 1

page 2

page 3

page 4


V2X Communication Between Connected and Automated Vehicles (CAVs) and Unmanned Aerial Vehicles (UAVs)

Connectivity between ground vehicles can be utilized and expanded to inc...

MAVSec: Securing the MAVLink Protocol for Ardupilot/PX4 Unmanned Aerial Systems

The MAVLink is a lightweight communication protocol between Unmanned Aer...

An Exhaustive Study of Using Commercial LTE Network for UAV Communication in Rural Areas

Unmanned aerial vehicles (UAVs) have been increasingly used in a wide ar...

Open Source Software for Teleoperated Driving

Teleoperation allows a human operator to remotely interact with and cont...

An Experimental Analysis on Drone-Mounted Access Points for Improved Latency-Reliability

The anticipated densification of contemporary communications infrastruct...

Real-Time Anchor-Free Single-Stage 3D Detection with IoU-Awareness

In this report, we introduce our winning solution to the Real-time 3D De...

CinemAirSim: A Camera-Realistic Robotics Simulator for Cinematographic Purposes

Drones and Unmanned Aerial Vehicles (UAV's) are becoming increasingly po...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.