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.
|Titolo della pubblicazione ospite||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,|
|Numero di pagine||14|
|Stato di pubblicazione||Published - 2019|
|Nome||LECTURE NOTES IN COMPUTER SCIENCE|