EAMOS: Execution of Aerial Multidrone M...

Tools for specifying and executing multidrone missions that go beyond pure orchestration of waypoints are rare. We present the EAMOS framework, which introduces a simple and intuitive text-based mission specification process to execute a multidrone mission onboard different heterogeneous drones. Key benefits of EAMOS are the easy handling of sequential and parallel drone actions and their automatic synchronization. A uniform drone-interface abstracts the handling of different drone types, and specialized mission control structures enable specifying high-level missions. Our EAMOS prototype has been completely implemented in Go and successfully demonstrated in combination with the Airsim multidrone simulation environment and the PX4 flight controller as a software-in-the-loop component. Synchronization among multiple drones wrt. their sequentially and concurrently performed actions as well as the correct application of mission control structures behave as expected.