Incorporating commercial autopilots into DRDC's middleware for robotics (MIRO) / S. Monckton [and three others]. : D68-6/178-2010E-PDF

"Unmanned Air vehicles have a long history of teleoperated control and limited way point following capabilities exploiting both GPS and INS sensing. Most autopilot providers use proprietary vehicle command interfaces and multivehicle control protocols. Though STANAG 4586 represents an existing industry standard multivehicle control interface for ground stations, few providers adhere to nonproprietary standards for network enabled control. This report documents the integration of two autopilots, the Cloudcap Piccolo Plus and the Rotomotion autopilot into a single multi-vehicle control network through the use of DRDC’s Middleware for Robotics or MIRO. Given the number and variety of air vehicles based on similar architectures, incorporating these devices into a common framework could provide a foundation to expand the capabilities of DRDC’s control network"--Executive Summary, page iii.

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