An open-source hardware/software architecture for quadrotor UAVs

Riccardo Spica, Paolo Robuffo Giordano, Markus Ryll, Heinrich Bulthoff, Antonio Franchi

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

4 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 languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
PublisherIFAC Secretariat
Pages198-205
Number of pages8
Volume2
EditionPART 1
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Compiegne, France
Duration: 2013 Nov 202013 Nov 22

Other

Other2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013
CountryFrance
CityCompiegne
Period13/11/2013/11/22

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Spica, R., Giordano, P. R., Ryll, M., Bulthoff, H., & Franchi, A. (2013). An open-source hardware/software architecture for quadrotor UAVs. In IFAC Proceedings Volumes (IFAC-PapersOnline) (PART 1 ed., Vol. 2, pp. 198-205). IFAC Secretariat. https://doi.org/10.3182/20131120-3-FR-4045.00006