Unmanned Aerial Vehicles

We present in this paper a comprehensive software system architecture for unmanned aerial vehicles. More specif­ ically, a top-down divide and conquer method is utilized in developing the logical representation of the overall system, with standard professional approaches, such as ftow diagram and task structure diagram. The overall system consisting of two unmanned vehicles and a ground control system is demon­ strated with both hardware-in-the- Ioop simulation and practical formation ftight tests. We should note that the same architecture can be adopted in other forms of unmanned systems including unmanned ground vehicles and underwater vehicles. Index Terms-Unmanned aerial vehicles, ftight software sys­ tems, ftight experiment.