Paper Info
Title
Fast MAV Control by Control/Status OO-Messages on Shared-Memory Middleware
Abstract
We describe how control/status OO-messages on shared-memory middleware can provide better performing control of a micro-air vehicle (MAV). To illustrate this, we provide a new hardware abstraction for a controller application that is completely analogous to the popular ardrone_autonomy (AA) package that enables the Parrot AR Drone 2.0 quadcopter to be flown using commands over Wi-Fi. For fairness of comparison, we use the OO-messages on shared-memory middleware implementation gusimplewhiteboard in parallel with the ROS AA in the same code-base. We demonstrate the performance improvements associated with using gusimplewhiteboard messaging in place of ROS messages and services. We explain how further performance improvements can be achieved by fully implementing the Time Triggered Architecture (TTA) of the gusimplewhiteboard and its associated tools (clfsm & LLFSMs).
Year
DOI
Venue
2015
10.1007/978-3-319-31293-4_16
ROBOT INTELLIGENCE TECHNOLOGY AND APPLICATIONS 4
Keywords
Field
DocType
Robotic middleware,ROS messages and services,PULL versus PUSH Control/status messages,Time triggered architecture
Middleware,Control theory,Shared memory,Computer science,Simulation,Quadcopter,Hardware abstraction,Drone,Time-triggered architecture,Distributed computing,Embedded system
Conference
Volume
ISSN
Citations 
447
2194-5357
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Dimitri Joukoff100.34
vladimir estivillcastro2903107.50
René Hexel37912.65
Carl Lusty481.89