Formation Control and Persistent Monitoring in the OpenUAV Swarm Simulator on the NSF CPS-VO

Anna Lukina, Arjun Kumar, Matt Schmittle, Abhijeet Singh, Jnaneshwar Das, Stephen Rees, Christopher P. Buskirk, Janos Sztipanovits, Radu Grosu, Vijay Kumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Simulation tools offer a low barrier to entry and enable testing and validation before field trials. However, most of the well-known simulators today are challenging to use at scale due to the need for powerful computers and the time required for initial set up. The OpenUAV Swarm Simulator was developed to address these challenges, enabling multi-UAV simulations on the cloud through the NSF CPS-VO. We leverage the Containers as a Service (CaaS) technology to enable students and researchers carry out simulations on the cloud on demand. We have based our framework on opensource tools including ROS, Gazebo, Docker, and the PX4 flight stack, and we designed the simulation framework so that it has no special hardware requirements. The demo and poster will showcase UAV swarm trajectory optimization, and multi-UAV persistent monitoring on the CPS-VO. The code for the simulator is available on GitHub: Https://github.com/Open-UAV.

Original languageEnglish (US)
Title of host publicationProceedings - 9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages353-354
Number of pages2
ISBN (Print)9781538653012
DOIs
StatePublished - Aug 21 2018
Externally publishedYes
Event9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018 - Porto, Portugal
Duration: Apr 11 2018Apr 13 2018

Other

Other9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018
CountryPortugal
CityPorto
Period4/11/184/13/18

Keywords

  • CPS-VO
  • formation-control
  • Monitoring
  • swarm-simulator

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Optimization

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