An open-source hardware/software architecture for quadrotor UAVs

Riccardo Spica; Paolo Robuffo Giordano; Markus Ryll; Heinrich H. Bülthoff; Antonio Franchi

doi:10.3182/20131120-3-FR-4045.00006

An open-source hardware/software architecture for quadrotor UAVs

Riccardo Spica, Paolo Robuffo Giordano, Markus Ryll, Heinrich H. Bülthoff, Antonio Franchi

Department of Brain and Cognitive Engineering

Research output: Contribution to journal › Conference article › peer-review

6 Citations (Scopus)

Abstract

In this paper, we illustrate an open-source ready-to-use hardware/software architecture for a quadrotor UAV. The presented platform is price effective, highly customizable, and easily exploitable by other researchers involved in high-level UAV control tasks and for educational purposes as well. The use of object-oriented programming and full support of Robot Operating System (ROS) and Matlab Simulink allows for an efficient customization, code reuse, functionality expansion and rapid prototyping of new algorithms. We provide an extensive illustration of the various UAV components and a thorough description of the main basic algorithms and calibration procedures. Finally, we present some experimental case studies aimed at showing the effectiveness of the proposed architecture.

Original language	English
Pages (from-to)	198-205
Number of pages	8
Journal	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	2
Issue number	PART 1
DOIs	https://doi.org/10.3182/20131120-3-FR-4045.00006
Publication status	Published - 2013
Event	2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Compiegne, France Duration: 2013 Nov 20 → 2013 Nov 22

ASJC Scopus subject areas

Control and Systems Engineering

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