Abstract
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.
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings - 9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 130-139 |
| Number of pages | 10 |
| ISBN (Print) | 9781538653012 |
| DOIs | |
| State | Published - Aug 21 2018 |
| Externally published | Yes |
| Event | 9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018 - Porto, Portugal Duration: Apr 11 2018 → Apr 13 2018 |
Other
| Other | 9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018 |
|---|---|
| Country | Portugal |
| City | Porto |
| Period | 4/11/18 → 4/13/18 |
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Keywords
- Aerial robotics
- simulation
- uav
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
- Control and Optimization
Cite this
OpenUAV : A UAV Testbed for the CPS and Robotics Community. / Schmittle, Matt; Lukina, Anna; Vacek, Lukas; Das, Jnaneshwar; Buskirk, Christopher P.; Rees, Stephen; Sztipanovits, Janos; Grosu, Radu; Kumar, Vijay.
Proceedings - 9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 130-139 8443728.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - OpenUAV
T2 - A UAV Testbed for the CPS and Robotics Community
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
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
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.
ER -