DronePort: Smart Drone Battery Management System

This paper deals with the description of a drone management system for long-term missions called DronePort. First, issue and possible approaches are outlined. Further, individual components proposed system, both hardware, software introduced. The DronePort relies on battery swapping. By storing in compartment, is not strictly designed one type drone, but simple modification, it capable maintaining flight various Vertical Take-Off Landing (VTOL) drones. Afterward, more attention paid to simulation environment, which will greatly facilitate development entire system. includes drones equipped down-facing camera landing platform, fitted an ArUco marker precise landing. Next, Traffic Control presented, tasked communicating drones, scheduling swapping, planning trajectories from platform. uses standard MAVLink protocol communication, enabling use variety compatible Finally, example collision-free trajectory considering capacity presented. Trajectory was found terms Chebyshev pseudospectral optimal control.