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

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

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Stegagno,  P
Department Human Perception, Cognition and Action, 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;

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Ahmad,  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

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.


Cite as: http://hdl.handle.net/11858/00-001M-0000-002A-43C1-2
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.