A Setup for multi-UAV hardware-in-the-loop simulations

2015

Conference Paper

ps


In this paper, we present a hardware in the loop simulation setup for multi-UAV systems. With our setup, we are able to command the robots simulated in Gazebo, a popular open source ROS-enabled physical simulator, using the computational units that are embedded on our quadrotor UAVs. Hence, we can test in simulation not only the correct execution of algorithms, but also the computational feasibility directly on the robot hardware. In addition, since our setup is inherently multi-robot, we can also test the communication flow among the robots. We provide two use cases to show the characteristics of our setup.

Author(s): Odelga, M and Stegagno, P and B├╝lthoff, HH and Ahmad, A
Pages: 204-210
Year: 2015
Publisher: IEEE

Department(s): Perceiving Systems
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/RED-UAS.2015.7441008
Event Name: 3rd Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2015)
Event Place: Cancun, Mexico
URL: http://ieeexplore.ieee.org/document/7441008/?reload=true

BibTex

@inproceedings{OdelgaSBA2015,
  title = {A Setup for multi-UAV hardware-in-the-loop simulations},
  author = {Odelga, M and Stegagno, P and B{\"u}lthoff, HH and Ahmad, A},
  pages = {204-210},
  publisher = {IEEE},
  year = {2015},
  url = {http://ieeexplore.ieee.org/document/7441008/?reload=true}
}