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Conference Paper

An Open-Source Hardware/Software Architecture for Quadrotor UAVs

MPS-Authors
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Ryll,  M
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Bülthoff,  HH
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Franchi,  A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

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).


Cite as: http://hdl.handle.net/11858/00-001M-0000-001A-12DE-9
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.