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  An Open-Source Hardware/Software Architecture for Quadrotor UAVs

Spica, R., Robuffo Giordano, P., Ryll, M., Bülthoff, H., & Franchi, A. (2013). An Open-Source Hardware/Software Architecture for Quadrotor UAVs. In IFAC Proceedings Volumes (pp. 198-205).

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-001A-12DE-9 Version Permalink: http://hdl.handle.net/21.11116/0000-0003-8A79-A
Genre: Conference Paper

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 Creators:
Spica, R, Author              
Robuffo Giordano, P, Author              
Ryll, M1, 2, Author              
Bülthoff, HH1, 2, Author              
Franchi, A1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 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, a thorough description of the main basic algorithms and calibration procedures, and finally present some experimental case studies aimed at showing the effectiveness of the proposed architecture.

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 Dates: 2013-11
 Publication Status: Published in print
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 Rev. Method: -
 Identifiers: DOI: 10.3182/20131120-3-FR-4045.00006
BibTex Citekey: SpicaRRBF2013
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Title: 2nd Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2013)
Place of Event: Compiegne, France
Start-/End Date: 2013-11-20 - 2013-11-22

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Title: IFAC Proceedings Volumes
Source Genre: Proceedings
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Pages: - Volume / Issue: 46 (30) Sequence Number: - Start / End Page: 198 - 205 Identifier: ISBN: 978-3-902823-57-1