Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441033
Lucas Vago Santana, Alexandre Santos Brandão, M. Sarcinelli-Filho
This paper describes the application of a low-cost quadrotor testbed in real outdoor flights. Along the text it is discussed how to design a flight control system, including methods for fusing out-of-sequence sensor measurements, for modelling the aircraft and for designing a high level flight controller. To validate the proposed system, some flights were performed, executing the specific tasks of positioning and trajectory tracking. The experimental results, discussed in the text and presented in videos, demonstrate the effectiveness of such a system.
{"title":"An automatic flight control system for the AR.Drone quadrotor in outdoor environments","authors":"Lucas Vago Santana, Alexandre Santos Brandão, M. Sarcinelli-Filho","doi":"10.1109/RED-UAS.2015.7441033","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441033","url":null,"abstract":"This paper describes the application of a low-cost quadrotor testbed in real outdoor flights. Along the text it is discussed how to design a flight control system, including methods for fusing out-of-sequence sensor measurements, for modelling the aircraft and for designing a high level flight controller. To validate the proposed system, some flights were performed, executing the specific tasks of positioning and trajectory tracking. The experimental results, discussed in the text and presented in videos, demonstrate the effectiveness of such a system.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115074370","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441008
M. Odelga, P. Stegagno, H. Bulthoff, Aamir Ahmad
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.
{"title":"A Setup for multi-UAV hardware-in-the-loop simulations","authors":"M. Odelga, P. Stegagno, H. Bulthoff, Aamir Ahmad","doi":"10.1109/RED-UAS.2015.7441008","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441008","url":null,"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.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122266841","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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