An open-source hardware/software architecture for quadrotor UAVs

Riccardo Spica, Paolo Robuffo Giordano, Markus Ryll, Heinrich H. Bülthoff, Antonio Franchi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    17 Citations (Scopus)

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

    Original languageEnglish
    Title of host publication2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings
    PublisherIFAC Secretariat
    Pages198-205
    Number of pages8
    EditionPART 1
    ISBN (Print)9783902823571
    DOIs
    Publication statusPublished - 2013
    Event2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Compiegne, France
    Duration: 2013 Nov 202013 Nov 22

    Publication series

    NameIFAC Proceedings Volumes (IFAC-PapersOnline)
    NumberPART 1
    Volume2
    ISSN (Print)1474-6670

    Other

    Other2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013
    Country/TerritoryFrance
    CityCompiegne
    Period13/11/2013/11/22

    ASJC Scopus subject areas

    • Control and Systems Engineering

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