LUCAS: Lightweight framework for UAV Control And Supervision

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.

Citation

J.I. Murillo, M.A. Montes, R. Zahinos, M.A. Trujillo, A. Viguria and G. Heredia. ICUAS 2025. "Simplifying Autonomous Aerial Operations: LUCAS, a Lightweight framework for UAV Control And Supervision". UNDER REVISION

If you use this data for any academic work, please cite our original paper: TBD

UNDER REVISION