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

Odelga, M., Stegagno, P., Bülthoff, H., & Ahmad, A. (2015). A Setup for multi-UAV hardware-in-the-loop simulations. In 3rd Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2015) (pp. 204-210). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-002A-43C1-2 Version Permalink: http://hdl.handle.net/21.11116/0000-0000-81F4-A
Genre: Conference Paper

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 Creators:
Odelga, M1, Author              
Stegagno, P1, Author              
Bülthoff, HH1, Author              
Ahmad, 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, ou_1497794              

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 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 the 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 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.

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 Dates: 2015-11
 Publication Status: Published in print
 Pages: -
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 Table of Contents: -
 Rev. Method: -
 Identifiers: DOI: 10.1109/RED-UAS.2015.7441008
BibTex Citekey: OdelgaSBA2015
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Title: 3rd Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2015)
Place of Event: Cancun, Mexico
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Title: 3rd Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS 2015)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 204 - 210 Identifier: -