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.

翻译：近年来，消费级无人机已被应急救援人员广泛采用。此类无人机通常需人工操控，这要求配备经过培训的飞行员，尤其在未知的GNSS拒止环境及建筑密集区域。自主飞行能够促进无人机的应用并减轻操作人员负担。然而，自主系统通常需要专用编程接口、定制传感器配置及高性能机载计算机，这限制了其大规模部署。本文提出一种基于轻量化消费级大疆无人机的自主飞行系统。通过直接在无人机遥控器上运行的Android应用程序实现状态估计与避障控制。我们的地面控制站支持单操作员同时配置与监控多架异构无人机。此外，该系统将所有无人机的观测数据融合为联合三维环境模型，从而提升态势感知能力。