WARA-Public Safety

Our research arena for public safety (WARA-PS) provides a realistic, large scale and industrially relevant demonstration environment using scenarios that focus on keeping society and its citizens safe.

The areas of public safety and security research is of increasing importance both nationally and internationally. Public safety often means dealing with extreme situations and requires new technical solutions that can showcase the advances in Autonomous Systems and Software research.


At WASP public safety research arena our PhD students have performed research in areas such as:

  • Integrated task, and trajectory planning for quadcopters, coordinated motion planning
  • Operator assistance using augmented reality to improve operator situation awareness
  • Motion planning, path following, control and stability analysis
  • Optimal rendezvous control using MPC when landing a UAV on a boat
  • The Mission Critical Cloud with high demand in latency, availability, robustness and predictability
  • Positioning and navigation without GPS
  • Collision avoidance based on closed loop perception
  • Control of UAVs using sensor/planning information
  • Image processing, semantic image segmentation
  • Command and control of UAV/USV fleet in S&R missions
  • 3D tracking, on-line machine learning, multi sensor fusion, object detection
  • Resource management over large networks, self-awareness and distributed data sharing
  • Video compression and video quality assessment

The Core Team

The Core Team consists of researchers and engineers from both industry and academia.

The participants in the core team represents: Saab Kockums, Saab Aeronautics, Saab Surveillance, Combitech, Ericsson AB, Axis Communications, Linköping University and UMS Skeldar. There is also a close collaboration with Swedish Maritime Robotics Centre (SMaRC) under water research and the Swedish Sea Rescue Society (SSRS).

Facilities and Infrastructure

The team integrates existing products and research platforms from the industry and new software to “plug-in” research results from WASP’s PhD students. A service distribution framework for autonomy from Linköping University connects and deploys the participating systems.

For data collection, test development and demonstrations the PhD students have access to the following systems:

  • One Combat Boat 90
  • Four quadcopters with EO/IR sensors
  • Two USVs – Pirayas
  • A fixed-wing small plane
  • Sensors like cameras, LIDAR, sonar etcetera mounted on the vehicles
  • Computer and storage resources in the cloud
  • A command and control system for human interaction
  • A delegation framework for collaboration between the systems

Hear some of our PhD students and supervisors share their experiences from participating in WARA–PS in the videos below.


The research-equipped CB90 boat is a well known participant at WARA-PS. And it comes with an exclusive feature – crash stop. Photo: Thor Balkhed, Linköping University