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A Modular and Scalable System Architecture for Heterogeneous UAV Swarms Using ROS 2 and PX4-Autopilot

Robert Pommeranz, Kevin Tebbe, Ralf Heynicke, Gerd Scholl

TL;DR

Addresses the need for robust counter-UAS swarm architectures by proposing a modular, containerized system built on PX4-Autopilot and ROS 2 that can operate heterogeneous UAVs. The design separates flight control, perception, and swarm management into independent ROS 2 nodes, with three UAV models (GenericUAVModel, ObservationUAVModel, CoordinatorUAVModel) and an offboard interface to PX4. Key contributions include leader-follower formation control, real-time perception integration, ground-station coordination, and cross-platform Docker deployments validated in Gazebo and real-world demonstrations. The framework offers flexible hardware support (Jetson, Raspberry Pi, x86_64), modular software, and a configurable communication layer that can transition to cellular networks, enabling scalable, resilient swarms for C-UAS tasks.

Abstract

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.

A Modular and Scalable System Architecture for Heterogeneous UAV Swarms Using ROS 2 and PX4-Autopilot

TL;DR

Addresses the need for robust counter-UAS swarm architectures by proposing a modular, containerized system built on PX4-Autopilot and ROS 2 that can operate heterogeneous UAVs. The design separates flight control, perception, and swarm management into independent ROS 2 nodes, with three UAV models (GenericUAVModel, ObservationUAVModel, CoordinatorUAVModel) and an offboard interface to PX4. Key contributions include leader-follower formation control, real-time perception integration, ground-station coordination, and cross-platform Docker deployments validated in Gazebo and real-world demonstrations. The framework offers flexible hardware support (Jetson, Raspberry Pi, x86_64), modular software, and a configurable communication layer that can transition to cellular networks, enabling scalable, resilient swarms for C-UAS tasks.

Abstract

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.

Paper Structure

This paper contains 13 sections, 3 figures.

Table of Contents

  1. Introduction
  2. Related Work
  3. System Architecture
  4. GenericUAVModel
  5. ObservationUAVModel
  6. CoordinatorUAVModel
  7. Implementation
  8. Hardware Platform
  9. Swarm Communication
  10. Containerization
  11. Software Stack
  12. Ground Station
  13. Conclusion

Figures (3)

  • Figure 1: Software architecture of a heterogeneous integrating multiple companion computers and modular software components. The ground station enables centralized swarm control and real-time state visualization, when autonomous operations are not feasible.
  • Figure 2: Potential configuration: The ObservationUAV with a multi-sensor camera. A GenericUAVModel with a Raspberry Pi CM 4. The ground station is a laptop with a to control the swarm. As a fallback solution, each can be manually controlled over a , which is directly connected to the .
  • Figure 3: Ground station with to control and display the current state of the swarm.