TY - GEN
T1 - OpenUAV
T2 - 9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018
AU - Schmittle, Matt
AU - Lukina, Anna
AU - Vacek, Lukas
AU - Das, Jnaneshwar
AU - Buskirk, Christopher P.
AU - Rees, Stephen
AU - Sztipanovits, Janos
AU - Grosu, Radu
AU - Kumar, Vijay
N1 - Funding Information:
We gratefully acknowledge NSF grant CNS-1521617, USDA grant 2015-67021-23857 under the National Robotics Initiative, a gift from Microsoft Research, the Doctoral Program Logical Methods in Computer Science and the Austrian National Research Network RiSE/SHiNE (S11412-N23) project funded by the Austrian Science Fund (FWF) project W1255-N23 for supporting this work.
Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/21
Y1 - 2018/8/21
N2 - Multirotor Unmanned Aerial Vehicles (UAV) have grown in popularity for research and education, overcoming challenges associated with fixed wing and ground robots. Unfortunately, extensive physical testing can be expensive and time consuming because of short flight times due to battery constraints and safety precautions. Simulation tools offer a low barrier to entry and enable testing and validation before field trials. However, most of the well-known simulators today have a high barrier to entry due to the need for powerful computers and the time required for initial set up. In this paper, we present OpenUAV, an open source test bed for UAV education and research that overcomes these barriers. We leverage the Containers as a Service (CaaS) technology to enable students and researchers carry out simulations on the cloud. We have based our framework on open-source tools including ROS, Gazebo, Docker, PX4, and Ansible, we designed the simulation framework so that it has no special hardware requirements. Two use-cases are presented. First, we show how a UAV can navigate around obstacles, and second, we test a multi-UAV swarm formation algorithm. To our knowledge, this is the first open-source, cloud-enabled testbed for UAVs. The code is available on GitHub: Https://github.com/Open-UAV.
AB - Multirotor Unmanned Aerial Vehicles (UAV) have grown in popularity for research and education, overcoming challenges associated with fixed wing and ground robots. Unfortunately, extensive physical testing can be expensive and time consuming because of short flight times due to battery constraints and safety precautions. Simulation tools offer a low barrier to entry and enable testing and validation before field trials. However, most of the well-known simulators today have a high barrier to entry due to the need for powerful computers and the time required for initial set up. In this paper, we present OpenUAV, an open source test bed for UAV education and research that overcomes these barriers. We leverage the Containers as a Service (CaaS) technology to enable students and researchers carry out simulations on the cloud. We have based our framework on open-source tools including ROS, Gazebo, Docker, PX4, and Ansible, we designed the simulation framework so that it has no special hardware requirements. Two use-cases are presented. First, we show how a UAV can navigate around obstacles, and second, we test a multi-UAV swarm formation algorithm. To our knowledge, this is the first open-source, cloud-enabled testbed for UAVs. The code is available on GitHub: Https://github.com/Open-UAV.
KW - Aerial robotics
KW - simulation
KW - uav
UR - http://www.scopus.com/inward/record.url?scp=85053552464&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85053552464&partnerID=8YFLogxK
U2 - 10.1109/ICCPS.2018.00021
DO - 10.1109/ICCPS.2018.00021
M3 - Conference contribution
AN - SCOPUS:85053552464
SN - 9781538653012
T3 - Proceedings - 9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018
SP - 130
EP - 139
BT - Proceedings - 9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 11 April 2018 through 13 April 2018
ER -