An open-source hardware/software architecture for quadrotor UAVs

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

doi:10.3182/20131120-3-FR-4045.00006

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 proceeding › Conference 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 language	English
Title of host publication	2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings
Publisher	IFAC Secretariat
Pages	198-205
Number of pages	8
Edition	PART 1
ISBN (Print)	9783902823571
DOIs	https://doi.org/10.3182/20131120-3-FR-4045.00006
Publication status	Published - 2013
Event	2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Compiegne, France Duration: 2013 Nov 20 → 2013 Nov 22

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	PART 1
Volume	2
ISSN (Print)	1474-6670

Other

Other	2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013
Country/Territory	France
City	Compiegne
Period	13/11/20 → 13/11/22

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.3182/20131120-3-FR-4045.00006

Cite this

Spica, R., Giordano, P. R., Ryll, M., Bülthoff, H. H., & Franchi, A. (2013). An open-source hardware/software architecture for quadrotor UAVs. In 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings (PART 1 ed., pp. 198-205). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 2, No. PART 1). IFAC Secretariat. https://doi.org/10.3182/20131120-3-FR-4045.00006

An open-source hardware/software architecture for quadrotor UAVs. / Spica, Riccardo; Giordano, Paolo Robuffo; Ryll, Markus et al.
2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings. PART 1. ed. IFAC Secretariat, 2013. p. 198-205 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 2, No. PART 1).

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

Spica, R, Giordano, PR, Ryll, M, Bülthoff, HH & Franchi, A 2013, An open-source hardware/software architecture for quadrotor UAVs. in 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings. PART 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. PART 1, vol. 2, IFAC Secretariat, pp. 198-205, 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013, Compiegne, France, 13/11/20. https://doi.org/10.3182/20131120-3-FR-4045.00006

Spica R, Giordano PR, Ryll M, Bülthoff HH, Franchi A. An open-source hardware/software architecture for quadrotor UAVs. In 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings. PART 1 ed. IFAC Secretariat. 2013. p. 198-205. (IFAC Proceedings Volumes (IFAC-PapersOnline); PART 1). doi: 10.3182/20131120-3-FR-4045.00006

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An open-source hardware/software architecture for quadrotor UAVs

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