TY - CHAP
T1 - ROS/Gazebo Based Simulation of Co-operative UAVs
AU - Fagiolini, Adriano
AU - Bernardeschi, Cinzia
AU - Palmieri, Maurizio
AU - Scrima, Giulio
AU - Sofia, Fabio
PY - 2019
Y1 - 2019
N2 - UAVs can be assigned different tasks such as e.g., rendez-vous and space coverage, which require processing and communication capabilities. This work extends the architecture ROS/Gazebo with the possibility of simulation of co-operative UAVs. We assume UAV with the underlying attitude controller based on the open-source Ardupilot software. The integration of the co-ordination algorithm in Gazebo is implemented with software modules extending Ardupilot with the capability of sending/receiving messages to/from drones, and executing the co-ordination protocol. As far as it concerns the simulation environment, we have extended the world in Gazebo to hold more than one drone and to open a specific communication port per drone. In the paper, results on the simulation of a representative co-ordination algorithm are shown and discussed, in a scenario where a small number of Iris Quadcopters are deployed.
AB - UAVs can be assigned different tasks such as e.g., rendez-vous and space coverage, which require processing and communication capabilities. This work extends the architecture ROS/Gazebo with the possibility of simulation of co-operative UAVs. We assume UAV with the underlying attitude controller based on the open-source Ardupilot software. The integration of the co-ordination algorithm in Gazebo is implemented with software modules extending Ardupilot with the capability of sending/receiving messages to/from drones, and executing the co-ordination protocol. As far as it concerns the simulation environment, we have extended the world in Gazebo to hold more than one drone and to open a specific communication port per drone. In the paper, results on the simulation of a representative co-ordination algorithm are shown and discussed, in a scenario where a small number of Iris Quadcopters are deployed.
UR - http://hdl.handle.net/10447/357669
M3 - Chapter
SN - 9783030149833
T3 - LECTURE NOTES IN COMPUTER SCIENCE
SP - 321
EP - 334
BT - Modelling and Simulation for Autonomous Systems: 5th International Conference on Modelling and Simulation for Autonomous Systems, MESAS 2018
5th International Conference, MESAS 2018, Prague, Czech Republic, October 17–19, 2018,
ER -