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

Marcin Odelga; Paolo Stegagno; Heinrich Bulthoff; Aamir Ahmad

doi:10.1109/RED-UAS.2015.7441008

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

Marcin Odelga, Paolo Stegagno, Heinrich Bulthoff, Aamir Ahmad

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Citations (Scopus)

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 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's 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.

Original language	English
Title of host publication	2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	204-210
Number of pages	7
ISBN (Print)	9781509017843
DOIs	https://doi.org/10.1109/RED-UAS.2015.7441008
Publication status	Published - 2016 Mar 24
Externally published	Yes
Event	2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015 - Cancun, Mexico Duration: 2015 Nov 23 → 2015 Nov 25

Other

Other	2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015
Country/Territory	Mexico
City	Cancun
Period	15/11/23 → 15/11/25

ASJC Scopus subject areas

Computer Networks and Communications
Signal Processing
Control and Systems Engineering
Software
Electrical and Electronic Engineering

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10.1109/RED-UAS.2015.7441008

Cite this

A Setup for multi-UAV hardware-in-the-loop simulations. / Odelga, Marcin; Stegagno, Paolo; Bulthoff, Heinrich et al.
2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 204-210 7441008.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Odelga, M, Stegagno, P, Bulthoff, H & Ahmad, A 2016, A Setup for multi-UAV hardware-in-the-loop simulations. in 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015., 7441008, Institute of Electrical and Electronics Engineers Inc., pp. 204-210, 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015, Cancun, Mexico, 15/11/23. https://doi.org/10.1109/RED-UAS.2015.7441008

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N2 - 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 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's 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.

AB - 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 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's 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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BT - 2015 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2015

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

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