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

Marcin Odelga, Paolo Stegagno, Heinrich Bulthoff, Aamir Ahmad

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

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 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's 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.

Original languageEnglish
Title of host publication2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages204-210
Number of pages7
ISBN (Print)9781509017843
DOIs
Publication statusPublished - 2016 Mar 24
Externally publishedYes
Event2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015 - Cancun, Mexico
Duration: 2015 Nov 232015 Nov 25

Other

Other2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015
CountryMexico
CityCancun
Period15/11/2315/11/25

Fingerprint

Unmanned aerial vehicles (UAV)
Robots
Hardware
Simulators
Communication

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Signal Processing
  • Control and Systems Engineering
  • Software
  • Electrical and Electronic Engineering

Cite this

Odelga, M., Stegagno, P., Bulthoff, H., & Ahmad, A. (2016). A Setup for multi-UAV hardware-in-the-loop simulations. In 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015 (pp. 204-210). [7441008] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RED-UAS.2015.7441008

A Setup for multi-UAV hardware-in-the-loop simulations. / Odelga, Marcin; Stegagno, Paolo; Bulthoff, Heinrich; Ahmad, Aamir.

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 204-210 7441008.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Odelga, M, Stegagno, P, Bulthoff, H & Ahmad, A 2016, A Setup for multi-UAV hardware-in-the-loop simulations. in 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015., 7441008, Institute of Electrical and Electronics Engineers Inc., pp. 204-210, 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015, Cancun, Mexico, 15/11/23. https://doi.org/10.1109/RED-UAS.2015.7441008
Odelga M, Stegagno P, Bulthoff H, Ahmad A. A Setup for multi-UAV hardware-in-the-loop simulations. In 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015. Institute of Electrical and Electronics Engineers Inc. 2016. p. 204-210. 7441008 https://doi.org/10.1109/RED-UAS.2015.7441008
Odelga, Marcin ; Stegagno, Paolo ; Bulthoff, Heinrich ; Ahmad, Aamir. / A Setup for multi-UAV hardware-in-the-loop simulations. 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 204-210
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