TrackerBots

TrackerBots Project Code and Documentation.

Introduction

TrackerBots is an open source framework to develop a fully autonomous system for Unmanned Aerial Vehicles (UAVs) to track multiple radio-tagged objects. This repository is provided as part of the following papers :

Nguyen H. V., Chesser M., Koh L.P, Rezatofighi S. H., & Ranasinghe D. C. (2019). TrackerBots: Autonomous unmanned aerial vehicle for real‐time localization and tracking of multiple radio‐tagged animals. Journal of Field Robotics. The submitted version is freely available at ArXiv:1712.01491. Please contact us if you need a full accepted version.
Nguyen H. V., Rezatofighi S.H., Taggart D., Ostendorf B., Ranasinghe D. C. (2018). TrackerBots: Software in the Loop Study of Quad-Copter Robots for Locating Radio-tags in a 3D Space. Australasian Conference on Robotics and Automation 2018. ACRA_2018

Cite using:

@article{nguyen_jofr2018_trackerbots,
  title={TrackerBots: Autonomous unmanned aerial vehicle for real‐time localization and tracking of multiple radio‐tagged animals},
  author={Nguyen, Hoa Van and Chesser, Michael and Koh, Lian Pin and Rezatofighi, S Hamid and Ranasinghe, Damith C},
  journal={Journal of Field Robotics},
  year={2019}
}

@article{nguyen_acra2018_trackerbots,
  title={TrackerBots: Software in the Loop Study of Quad-Copter Robots for
Locating Radio-tags in a 3D Space},
  author={Nguyen, Hoa Van and Rezatofighi, S. Hamid  and Taggart, David and Ostendorf, Bertram  and Ranasinghe, Damith C},
  journal={Australasian Conference on Robotics and Automation 2018},
  year={2018}
}

Built With

MATLAB - Tracking and Planning Algorithm.
Rust - Embedded System Management.

Authors

Hoa Nguyen: hoavan.nguyen@adelaide.edu.au
Michael Chesser: michael.chesser@adelaide.edu.au

Main Program

JoFR: A MATLAB tracking and planning algorithm for the TrackerBots: Autonomous UAV for Real-Time Localization and Tracking of Multiple Radio-Tagged Animals paper.
ACRA_2018: A MATLAB tracking and planning algorithm for the TrackerBots: Software in the Loop Study of Quad-Copter Robots for Locating Radio-tags in a 3D Space paper.

Auxiliary Components

animal_detector: Signal processing library to detect the pulse emitted from the VHF radio tags.
common: A common library used for pulse_server and telemetry_host
io_proxy: The input/output proxy tool for multiplexing Mavlink messages between different I/O connection
pulse_server: A full signal processing module installed on Intel Edison board, which communicates with a SDR to detect and analyze transmitted pulses from radio tags.
services: contains a service file for pulse_server that to run automatically on the Intel Edison board when it restarts.
telemetry_host: An interface program which provides REST api to communicate betweentracking and planning algorithm written in MATLAB and the UAV.

License

This project is licensed under the MIT License - see the LICENSE.md file for details

JuChanyoung / TrackerBots