A Mixed Reality Ground Control Station for MUM-T and Multi-UAV Operations

초록

This paper presents a novel Mixed Reality (MR)-based Ground Control Station (GCS), designed for Manned-Unmanned Teaming (MUM-T) and scalable multi-UAV operations. The system utilizes Microsoft HoloLens 2 as an immersive operator interface, integrating real-time visual feedback and dual control inputs (UI/Speech). To ensure reliable, independent control of multiple drones within a shared ROS Master environment, we propose and implement a Prefix-based Control Logic. Furthermore, we replace the bottleneck-prone ROS Topic video relay with a decentralized WebRTC P2P streaming pipeline to maintain concurrent video stability. The experimental evaluation focused on the system's core capabilities, confirming a 100\% control command success rate across both UI and Speech modes, and demonstrating exceptional video stability (average 29.7 FPS at 1280x720) across dual streams during active maneuvering. These results validate the efficacy of the proposed architectural solutions for reliable, scalable multi-agent control and monitoring in mission-critical MR environments.

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