16 Apr 2025

Sensor Fusion for Aerial Robotic Systems

Abstract: As uncrewed aerial vehicle (drone) use expands across industries so also does the complexity of sensor payloads. At present, there are no commercially available products for the management and fusion of multisensor data. Sensor Fusion for Aerial Robotic Systems (SFARS) is a sensor agnostic, modular platform for intelligent multisensor data fusion and processing. At the time of writing, SFARS exists as a root codebase, a PC application for processing of previously collected drone data and as a prototype hardware platform for real-time drone deployment. This report serves as a technical users guide to the design, development, and implementation of the suite of SFARS software.

7 Jul 2023

Docker Containers and Images for Robot Operating System (ROS)–Based Applications

Abstract: Docker is a tool designed to make it easier to create, deploy, and run applications by using containers. Containers allow a developer to package and ship out an application with all of the parts it needs, such as libraries and other dependencies. Herein, we investigate using a Docker image to deploy and run our Robot Operating System (ROS)–based payload on a robot platform. Ultimately, this would allow us to quickly and efficiently deploy our payload on multiple platforms.