PoC2 - Environmental Supporting Human Workers in Harvesting: real-world 9-UAV validation.

This dataset contains a real-world multi-UAV deployment performed in forest environments using a coordinated fleet of nine autonomous aerial vehicles. The dataset captures the operation of the complete integrated system during continuous field experiments, including localization, mapping, trajectory generation, communication, state estimation, obstacle representation, and autonomous navigation components. The dataset was recorded using ROS and includes synchronized onboard telemetry, state estimation, GNSS/RTK information, LiDAR point clouds, octomap representations, planning visualization topics, trajectory generation outputs, and TF transformations for all UAVs. The dataset is intended for research in: GPS/RTK-based localization LiDAR perception Octomap-based planning ROS-based autonomous systems /$UAV_NAME/mavros.* /$UAV_NAME/rtk.* /$UAV_NAME/hw_api.* /$UAV_NAME/witmotion_imu/imu /$UAV_NAME/gnss_verifier/gnss_wstatus /$UAV_NAME/lslidar/pcl_filtered /$UAV_NAME/estimation_manager/odom_main /$UAV_NAME/odometry/gps /$UAV_NAME/Odometry /$UAV_NAME/home_distance /$UAV_NAME/distance_travelled /$UAV_NAME/octomap_global_vis/free_cells_vis_array_throttled /$UAV_NAME/octomap_global_vis/occupied_cells_vis_array_throttled /$UAV_NAME/octomap_local_vis/free_cells_vis_array_throttled /$UAV_NAME/octomap_local_vis/occupied_cells_vis_array_throttled /$UAV_NAME/octomap_planner/path /$UAV_NAME/octomap_planner/visualize_input /$UAV_NAME/octomap_planner/visualize_planner /$UAV_NAME/octomap_planner/visualize_processed /$UAV_NAME/trajectory_generation.* /tf本数据集包含在森林环境中开展的真实多无人机部署实验，实验采用由9架自主无人机组成的协同机群。本数据集记录了连续野外实验中完整集成系统的全流程运行数据，涵盖定位、建图、轨迹生成、通信、状态估计、障碍物表征以及自主导航等功能模块。 本数据集通过机器人操作系统（Robot Operating System, ROS）录制，包含所有无人机的同步机载遥测数据、状态估计结果、GNSS/RTK信息、激光雷达（LiDAR）点云、八叉树地图（octomap）表征结果、规划可视化话题、轨迹生成输出数据以及TF坐标变换数据。 本数据集适用于以下研究方向： - 基于GPS/RTK的定位 - 激光雷达感知 - 基于八叉树地图的规划 - 基于ROS的自主系统 /${UAV_NAME}/mavros.* /${UAV_NAME}/rtk.* /${UAV_NAME}/hw_api.* /${UAV_NAME}/witmotion_imu/imu /${UAV_NAME}/gnss_verifier/gnss_wstatus /${UAV_NAME}/lslidar/pcl_filtered /${UAV_NAME}/estimation_manager/odom_main /${UAV_NAME}/odometry/gps /${UAV_NAME}/Odometry /${UAV_NAME}/home_distance /${UAV_NAME}/distance_travelled /${UAV_NAME}/octomap_global_vis/free_cells_vis_array_throttled /${UAV_NAME}/octomap_global_vis/occupied_cells_vis_array_throttled /${UAV_NAME}/octomap_local_vis/free_cells_vis_array_throttled /${UAV_NAME}/octomap_local_vis/occupied_cells_vis_array_throttled /${UAV_NAME}/octomap_planner/path /${UAV_NAME}/octomap_planner/visualize_input /${UAV_NAME}/octomap_planner/visualize_planner /${UAV_NAME}/octomap_planner/visualize_processed /${UAV_NAME}/trajectory_generation.* /tf