TABLE 5.
Comparison of UAV frameworks across key features. (BT = behaviour trees).
| Framework | Modularity | Open source | High-level planning | Heterogeneous UAV support | Mission control interface | Simulation integration | Execution architecture |
|---|---|---|---|---|---|---|---|
| Auterion 39 | Yes | No | Proprietary | Proprietary | Yes (App) | No | Centralised |
| Hivemind 40 | Proprietary | No | Proprietary | Proprietary | Yes | Limited | Decentralised |
| Aerostack2 41 | Plugin-based | Yes | Limited | Yes | Yes | Yes (Gazebo) | Centralised/distributed |
| CERLAB-UAV 42 | Limited | Yes | No | No | No | Yes | Centralised |
| MRTA E. A 43 | Limited | Yes | Partial (BT) | No | No | Yes | Centralised |
| AUSPEX | Fully modular | Yes | Yes | Yes | Yes (AUGUR) | Yes (REAP, UNREAL-based) | Centralised/distributed |