Framework for UAV autonomous flight compatible with ArduPilot. The two modules that composed it are:
- CATEC Control Manager: Finite-state-machine for mission and behavior control.
- Cascade PID Controller: Module for trajectory control that interfaces with CATEC Control Manager and sent attitude set-points to autopilot via MAVROS.
Please check the README of each package for usage guidelines and more detailed information.
If you use this data for any academic work, please cite our original paper:
@INPROCEEDINGS{11007803,
author={Murillo, J.I. and Montes, M.A. and Zahinos, R. and Trujillo, M.A. and Viguria, A. and Heredia, G.},
booktitle={2025 International Conference on Unmanned Aircraft Systems (ICUAS)},
title={Simplifying Autonomous Aerial Operations: LUCAS, a Lightweight Framework for UAV Control and Supervision},
year={2025},
volume={},
number={},
pages={854-861},
keywords={Buildings;Inspection;Autonomous aerial vehicles;Aircraft navigation;Libraries;Autopilot;Trajectory;Middleware;Monitoring;Robots},
doi={10.1109/ICUAS65942.2025.11007803}
}