用手机控制廉价无人机群，实现无GPS环境下的自主搜救。
Remote Autonomy for Multiple Small Lowcost UAVs in GNSS-denied Search and Rescue Operations
- 手机直接在遥控器上运行算法，实现定位与避障。
- 单人可同时管控多架异构无人机，协同构建3D环境地图。
- 适合应急救援人员快速部署，无需专业设备或编程。
近年来，消费级无人机已被一线救援人员广泛采用。通常需由训练有素的飞行员手动操控，尤其在未知的无全球导航卫星系统（GNSS）环境及建筑物附近时更为困难。自主飞行能提升无人机应用效率并减轻操作负担。然而，现有自主系统通常需要专用编程接口、定制传感器配置和强大机载计算能力，限制了其广泛应用。本文提出一种基于轻量级消费级大疆无人机的自主飞行系统。无人机通过安装在遥控器上的Android应用程序实现状态估计与障碍物规避。地面控制站支持单个操作员同时配置和监控多架异构无人机，并将各无人机观测结果融合生成统一的3D环境模型，显著提升态势感知能力。
原文摘要 · Abstract (English)
In recent years, consumer-grade UAVs have been widely adopted by first responders. In general, they are operated manually, which requires trained pilots, especially in unknown GNSS-denied environments and in the vicinity of structures. Autonomous flight can facilitate the application of UAVs and reduce operator strain. However, autonomous systems usually require special programming interfaces, custom sensor setups, and strong onboard computers, which limits a broader deployment. We present a system for autonomous flight using lightweight consumer-grade DJI drones. They are controlled by an Android app for state estimation and obstacle avoidance directly running on the UAV's remote control. Our ground control station enables a single operator to configure and supervise multiple heterogeneous UAVs at once. Furthermore, it combines the observations of all UAVs into a joint 3D environment model for improved situational awareness.
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