air_router replaces the waypoint mission following in PX4-based flight controllers for a high-altitude robot. We use it to maximize communication in a multi-robot setting, where the aerial robot can fly over ground robots and act as a data mule.

To use this node, you should create a QGC mission with the following characteristics:

1. We take the take off waypoint as the origin (command 22). Please be sure to align this takeoff point with your image origin.

2. Be sure to create only one fence (inclusion fence), and be sure that all the waypoints are within the fence.

3. You can create as many no fly zones as you want (exclusion fences).

If you find air_router useful, please cite:

@INPROCEEDINGS{cladera2024enabling,
  author={Cladera, Fernando and Ravichandran, Zachary and Miller, Ian D. and Ani Hsieh, M. and Taylor, C. J. and Kumar, Vijay},
  booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA)},
  title={{Enabling Large-scale Heterogeneous Collaboration with Opportunistic Communications}},
  year={2024},
  pages={2610-2616},
  doi={10.1109/ICRA57147.2024.10611469}
}