@inproceedings{tabor2018ardusoar,
author = {Tabor, Samuel and Guilliard, Iain and Kolobov, Andrey},
title = {ArduSoar: an Open-Source Thermalling Controller for Resource-Constrained Autopilots},
booktitle = {IROS 2018},
year = {2018},
month = {October},
abstract = {Autonomous soaring capability has the potential to significantly increase time aloft for fixed-wing UAVs. In this paper, we introduce ArduSoar, the first soaring controller integrated into a major autopilot software suite for small UAVs. We describe ArduSoar from the algorithmic standpoint, outline its integration with the ArduPlane autopilot, discuss parameter tuning for it, and conduct a series of flight tests on real sUAVs that show ArduSoar's robustness even in highly non-ideal atmospheric conditions.},
url = {http://approjects.co.za/?big=en-us/research/publication/ardusoar-an-open-source-thermalling-controller-for-resource-constrained-autopilots/},
}