6533b85cfe1ef96bd12bc0da

RESEARCH PRODUCT

ROS/Gazebo Based Simulation of Co-operative UAVs

Adriano FagioliniFabio SofiaCinzia BernardeschiGiulio ScrimaMaurizio Palmieri

subject

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

description

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.

yearjournalcountryeditionlanguage
2019-01-01
https://doi.org/10.1007/978-3-030-14984-0_24