Remote Autonomy for Multiple Small Lowcost {UAVs} in {GNSS}-denied Search and Rescue Operations

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.