BumblebeeAS Software Stack Overview¶

This page contains an overview of our vehicle software architectures and maps out the individual Git repositories. See the README of each repository for further information.

AUV architecture¶

%%{init: {"themeVariables": {"fontSize": "18px"}}}%%
flowchart LR
  subgraph SENSING[" "]
    direction TB

    subgraph PERCEPTION["<b>Perception</b>"]
      direction TB
      HYDROPHONES["Hydrophones"] --> ACOUSTIC_DETECTION_AUV["Acoustic Detection"]
      CAMERAS["Cameras"] --> VISION["Vision Pipeline"]
      FLS["FLS Sonar"] --> SONAR["Sonar Processing"]
    end

    subgraph LOCALIZATION["<b>Localization</b>"]
      direction LR
      DVL["Doppler<br/>Velocity Log"] --> FUSION["UKF + Fusion"]
      IMU["Inertial<br/>Measurement Unit"] --> FUSION
      FOG["Fiber Optic<br/>Gyroscope"] --> FUSION
    end
  end

  subgraph MISSION["<b>Mission Architecture</b>"]
    PLANNER["Mission Planner"]
  end

  subgraph CONTROL["<b>Navigation &amp; Control</b>"]
    direction TB
    TRAJECTORY["Trajectory Planner"] --> CONTROLLER["Controller"] --> ALLOCATOR["Thrust Allocator"]
  end

  subgraph NETWORK["<b>Network &amp; Telemetry</b>"]
    direction LR
    IVC["IVC Module"] <--> ACOUSTIC["Hydrophones"]
    CONVERSION["Message Conversion"] --> TELEMETRY["Telemetry"]
  end

  CONVERSION <--> THRUSTERS["Thrusters"]
  POWER["Power"] --> CONVERSION
  ACTUATOR_CONTROL_AUV["Actuator Control"] --> CONVERSION

  ACOUSTIC_DETECTION_AUV --> PLANNER
  VISION --> PLANNER
  SONAR --> PLANNER
  FUSION --> CONTROLLER

  PLANNER --> TRAJECTORY
  PLANNER <--> CONVERSION
  PLANNER <--> IVC
  ALLOCATOR --> CONVERSION

  style SENSING fill:transparent,stroke:transparent

ASV architecture¶

%%{init: {"themeVariables": {"fontSize": "18px"}}}%%
flowchart LR
  subgraph SENSING_ASV[" "]
    direction TB

    subgraph PERCEPTION_ASV["<b>Perception</b>"]
      direction LR
      HYDROPHONES_ASV["Hydrophones"] --> ACOUSTIC_DETECTION["Acoustic<br/>Detection"]
      CAMERAS_ASV["Cameras"] --> IMAGE_PIPELINE["Vision<br/>Pipeline"]
      LIDARS["LiDARs"] --> LIDAR_PIPELINE["LiDAR<br/>Pipeline"]

      ACOUSTIC_DETECTION --> TARGET_FUSION["Multi-target<br/>Tracking / Fusion"]
      IMAGE_PIPELINE --> TARGET_FUSION
      LIDAR_PIPELINE --> TARGET_FUSION
    end

    subgraph LOCALIZATION_ASV["<b>Localization</b>"]
      direction LR
      GNSS["Dual-antenna<br/>GNSS/INS"] --> UKF["UKF"]
    end
  end

  subgraph MISSION_ASV["<b>Mission Architecture</b>"]
    MISSION_PLANNER_ASV["Mission Planner"]
  end

  subgraph NAVIGATION["<b>Navigation &amp; Control</b>"]
    direction LR
    BT_NAVIGATOR["BT Navigator"] --> NAV_PLANNER["Trajectory Planner"] --> CONTROLLER_ASV["Controller"] --> THRUST_ALLOCATOR_ASV["Thrust Allocator"]
  end

  subgraph COMMS[" "]
    direction TB
    TELEMETRY_ASV["Telemetry"] --> TD_CLIENT["TD Client"]
    subgraph AUXILIARY_CONTROL[" "]
      direction LR
      SHOOTER["Shooter"]
      HYDROPHONES_CONTROL["Hydrophones"]
    end
  end

  THRUST_ALLOCATOR_ASV --> THRUSTERS_ASV["Thrusters"]
  ACTUATOR_CONTROL["Actuator Control"]

  LIDAR_PIPELINE --> UKF
  LIDAR_PIPELINE --> MAPPER["Mapper"]
  TARGET_FUSION --> MISSION_PLANNER_ASV
  UKF --> MAPPER
  UKF --> NAV_PLANNER

  MISSION_PLANNER_ASV --> BT_NAVIGATOR
  MISSION_PLANNER_ASV <--> TELEMETRY_ASV
  MISSION_PLANNER_ASV --> SHOOTER
  MISSION_PLANNER_ASV --> HYDROPHONES_CONTROL
  MISSION_PLANNER_ASV --> ACTUATOR_CONTROL

  style SENSING_ASV fill:transparent,stroke:transparent
  style COMMS fill:transparent,stroke:transparent
  style AUXILIARY_CONTROL fill:transparent,stroke:transparent

UAV architecture¶

%%{init: {"themeVariables": {"fontSize": "18px"}}}%%
flowchart LR
  subgraph PERCEPTION_UAV["<b>Perception</b>"]
    direction LR
    CAMERA_UAV["Camera"]
    ML["ML"]
    IMAGE_MATCHING_UAV["Image Matching"]
    FILTERS_UAV["Filters"]

    CAMERA_UAV --> ML
    CAMERA_UAV --> IMAGE_MATCHING_UAV
    ML --> FILTERS_UAV
    IMAGE_MATCHING_UAV --> FILTERS_UAV
  end

  subgraph MISSION_UAV["<b>Mission Architecture</b>"]
    MISSION_PLANNER_UAV["Mission Planner"]
  end

  subgraph FLIGHT_CONTROL["<b>Navigation &amp; Control</b>"]
    direction LR
    RTK_GPS["RTK GPS"] --> PX4
    IMU_UAV["IMU"] --> PX4
    TRAJECTORY_UAV["Trajectory Planner"] --> PX4["PX4 Flight<br/>Controller"] --> THRUST_ALLOCATOR_UAV["Thrust Allocator"]
  end

  subgraph COMMUNICATION_UAV["<b>Communication</b>"]
    RADIO_UAV["Radio"]
  end

  THRUST_ALLOCATOR_UAV --> THRUSTERS_UAV["Thrusters"]
  ACTUATOR_CONTROL_UAV["Actuator Control"]

  FILTERS_UAV --> MISSION_PLANNER_UAV
  MISSION_PLANNER_UAV --> TRAJECTORY_UAV
  PX4 --> MISSION_PLANNER_UAV
  MISSION_PLANNER_UAV <--> RADIO_UAV
  MISSION_PLANNER_UAV --> ACTUATOR_CONTROL_UAV

Shared Interfaces and Mission Planning¶

Perception¶

flowchart LR
  subgraph VISION["Vision Pipeline"]
    direction LR

    CAM["Camera"]
    IMG["Image Processing"]
    MATCH["Image Matching"]
    YOLO["YOLO"]
    DEPTH["Depth Estimation"]
    POSE["Pose Estimator"]

    CAM --> IMG --> MATCH --> POSE
    CAM --> YOLO --> POSE
    CAM --> DEPTH --> POSE
  end

  POSE --> CLUSTER["Pose Clustering (Filters)"]
  CLUSTER --> BT["Mission Planner"]

Simulation¶

Developer Platforms and Tooling¶