In this paper a modular and scalable architecture for heterogeneous swarm-based Counter Unmanned Aerial Systems (C-UASs) built on PX4-Autopilot and Robot Operating System 2 (ROS 2) framework is presented. The proposed architecture emphasizes seamless integration of hardware components by introducing independent ROS 2 nodes for each component of a Unmanned Aerial Vehicle (UAV). Communication between swarm participants is abstracted in software, allowing the use of various technologies without architectural changes. Key functionalities are supported, e.g. leader following and formation flight to maneuver the swarm. The system also allows computer vision algorithms to be integrated for the detection and tracking of UAVs. Additionally, a ground station control is integrated for the coordination of swarm operations. Swarm-based Unmanned Aerial System (UAS) architecture is verified within a Gazebo simulation environment but also in real-world demonstrations.

翻译：本文提出了一种基于PX4-Autopilot与机器人操作系统2（ROS 2）框架的模块化、可扩展架构，用于异构集群式反无人机系统（C-UAS）。该架构通过为无人机（UAV）的每个组件引入独立的ROS 2节点，强调硬件部件的无缝集成。集群成员间的通信在软件层面实现抽象化，允许在不改变架构的前提下使用多种通信技术。系统支持关键功能，例如领航跟随与编队飞行，以实现集群机动。该系统还可集成计算机视觉算法，用于无人机的检测与跟踪。此外，集成了地面站控制系统以协调集群任务。该集群式无人机系统（UAS）架构已在Gazebo仿真环境中得到验证，并进行了实际演示验证。