6533b835fe1ef96bd129ed02

RESEARCH PRODUCT

Simulation and Test of UAV Tasks With Resource-Constrained Hardware in the Loop

Daniele PeriA. AugelloGiuseppe Lo ReSalvatore Gaglio

subject

System Testingbusiness.industryComputer scienceUAVComputationReal-time computingResource constrainedsyncHardware-in-the-loop simulationSystem testingTest (assessment)SoftwareHybrid SimulationEmbedded SystemHardware in the loopbusinessSearch and rescue

description

Simulations are indispensable to reduce costs and risks when developing and testing algorithms for unmanned aerial vehicles (UAV) especially for applications in high risk scenarios like search and rescue (SAR) operations and post-disaster damage assessment. Many UAV applications require real-time tasks for which the timeliness of computations is fundamental. However, standard simulation tools are not guaranteed to run in sync with real-time events, leading to unreliable assessments of the ability of the target hardware to perform specific tasks. In this work we present a simulation and test system able to run UAV tasks on resource-constrained target hardware possibly adopted in these applications. The system allows for hardware-in-the-loop simulations in which a virtual UAV provided with virtual sensors is controlled by the software under test (SUT) running on the target hardware, while simulated and real time are kept in sync. We provide experimental results from the execution of several increasingly difficult tasks in the system.

yearjournalcountryeditionlanguage
2021-08-012021 IEEE International Conference on Smart Computing (SMARTCOMP)
https://doi.org/10.1109/smartcomp52413.2021.00071