ClearSky OS Development for Counter-UAS Research

ROS 2 counter-UAS research stack from Fratres X AI Physics-first sensing, fusion, and autonomy scaffolding — reviewable, gated, and honest about maturity

Quick start · Architecture · Maturity · Docs · fratres-x.com

ClearSky OS is the open ROS 2 workspace behind Fratres X AI’s counter-UAS research thread: multimodal sensing → fusion → safety gates → operator-facing decision support, with an immutable audit spine.

Built the Fratres X way — physics first, conservative claims, systems built for scrutiny. No AI magic. No inflated readiness.

Focus What you get Integration skeleton Docker-first ROS 2 Kilted workspace with CI on every push Reviewable control path Detect → track → fuse → gate → plan, with inspectable topics Safety-encoded posture Confidence gates, human veto, IFF lockout, kinetic defaults off Audit spine Hash-chained event trail for after-action replay Honest boundaries Stub vs production adapters called out in docs — replace, don’t pretend

Inside the container:

Smoke-check:

See docs/TESTING.md.

Loading

Default demo chain: sensors → fusion → audit → safety gate → scout / micro-payload sim → operator copilot → non-kinetic-first effector planning.

ClearSky OS is an active research / prototype workspace, not a fielded product.

Layer today Status Topic contracts, bringup, Docker, CI Stable scaffolding Safety / effector policy gates Real software logic Visual perception YOLO path when CLEARSKY_SIM_MODE=false + weights; labeled synthetic tracks in sim mode Fusion Constant-velocity EKF with Mahalanobis association (cv_ekf) Digital twin Analytic now-cast + Gazebo-compatible rollout backend → /digital_twin/veto Sim / Gazebo clearsky_os_sim truth bridge + worlds/clearsky_cuas.sdf (CI uses kinematics) Acoustic / RF Band-energy / spectral heuristics; optional ONNX when weights present Thermal Labeled synthetic stub Fusion CV-EKF authoritative + multimodal adapters; learned association on /fusion/learned_tracks (shadow) Scout mothership Enrichment of fused tracks (coverage/mesh) — does not invent PID tracks Effector envelopes Analytic Friis / success probability on /effector/status + plan XAI Effector / swarm inventory pubs Simulation status publishers — not hardware actuation

If you need production sensing, fusion, or autonomy work, talk to us at fratres-x.com.

Doc Purpose docs/ARCHITECTURE.md Module topology & data flow docs/COGNITIVE_ARCHITECTURE.md Cognitive adjunct roadmap docs/TESTING.md Build, test, smoke validation CONTRIBUTING.md Dev setup & PR expectations SECURITY.md Vulnerability reporting

PRs that harden physics adapters, fusion tests against production modules, and safety-gate regressions are especially welcome. See CONTRIBUTING.md.

Copyright © 2026 Fratres X AI.

Licensed under the Apache License, Version 2.0. See NOTICE.