Name
Abstract | ||
|---|---|---|
UAVs can be assigned different tasks such as e.g., rendezvous and space coverage, which require processing and communication capabilities. This work extends the architecture ROS/Gazebo with the possibility of simulation of co-operative UAVs. We assume UAV with the underlying attitude controller based on the open-source Ardupilot software. The integration of the co-ordination algorithm in Gazebo is implemented with software modules extending Ardupilot with the capability of sending/receiving messages to/from drones, and executing the co-ordination protocol. As far as it concerns the simulation environment, we have extended the world in Gazebo to hold more than one drone and to open a specific communication port per drone. In the paper, results on the simulation of a representative co-ordination algorithm are shown and discussed, in a scenario where a small number of Iris Quadcopters are deployed. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1007/978-3-030-14984-0_24 | Lecture Notes in Computer Science |
Keywords | Field | DocType |
ROS/Gazebo,Co-operative UAVs,Simulation | Control theory,Software modules,Architecture,Computer science,Software,Drone,Embedded system | Conference |
Volume | ISSN | Citations |
11472 | 0302-9743 | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Cinzia Bernardeschi | 1 | 226 | 31.87 |
| Adriano Fagiolini | 2 | 86 | 16.80 |
| Maurizio Palmieri | 3 | 7 | 3.44 |
| Giulio Scrima | 4 | 0 | 0.34 |
| Fabio Sofia | 5 | 0 | 0.34 |