0000000001080806

AUTHOR

Fabio Sofia

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ROS/Gazebo Based Simulation of Co-operative UAVs

2019

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 specif…

Co operative0209 industrial biotechnologyComputer sciencebusiness.industryComputer Science (all)Real-time computing020206 networking & telecommunicationsROS/Gazebo02 engineering and technologyPort (computer networking)DroneTheoretical Computer ScienceCo-operative UAVSoftware modulesCo-operative UAVs; ROS/Gazebo; Simulation020901 industrial engineering & automationSoftwareSettore ING-INF/04 - AutomaticaControl theory0202 electrical engineering electronic engineering information engineeringbusinessProtocol (object-oriented programming)SimulationCo-operative UAVs
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