An open-source hardware/software architecture for quadrotor UAVs

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

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	IFAC Proceedings Volumes (IFAC-PapersOnline)
Publisher	IFAC Secretariat
Pages	198-205
Number of pages	8
Volume	2
Edition	PART 1
DOIs	https://doi.org/10.3182/20131120-3-FR-4045.00006
Publication status	Published - 2013
Externally published	Yes
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

Other

Other	2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013
Country	France
City	Compiegne
Period	13/11/20 → 13/11/22

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

Spica, R, Giordano, PR, Ryll, M, Bulthoff, H & Franchi, A 2013, An open-source hardware/software architecture for quadrotor UAVs. in IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 edn, vol. 2, IFAC Secretariat, pp. 198-205, 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013, Compiegne, France, 13/11/20. https://doi.org/10.3182/20131120-3-FR-4045.00006

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