OpenUAV Cloud Testbed: A Collaborative Design Studio for Field Robotics

Harish Anand, Stephen A. Rees, Zhiang Chen, Ashwin Jose Poruthukaran, Sarah Bearman, Lakshmi Gana Prasad Antervedi, Jnaneshwar Das

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

Abstract

Simulations play a crucial role in robotics research and education. This paper presents the OpenUAV testbed, an open-source, easy-to-use, web-based, and reproducible software system that enables students and researchers to run robotic simulations on the cloud. We have built upon our previous work and have addressed some of the educational and research challenges associated with the prior work. The critical contributions of the paper to the robotics and automation community are threefold: First, OpenUAV saves students and researchers from tedious and complicated software setups by providing web-browser-based Linux desktop sessions with standard robotics software like Gazebo, ROS, and flight autonomy stack. Second, a method for saving an individual's research work with its dependencies for the work's future reproducibility. Third, the platform provides a mechanism to support photorealistic robotics simulations by combining Unity game engine-based camera rendering and Gazebo physics. The paper addresses a research need for photorealistic simulations and describes a methodology for creating a photorealistic aquatic simulation. We also present the various academic and research use-cases of this platform to improve robotics education and research, especially during times like the COVID-19 pandemic, when virtual collaboration is necessary. GitHub https://github.com/Open-UAV/openuav-turbovnc Webpage: https://openuav.us

Original languageEnglish (US)
Title of host publication2021 IEEE 17th International Conference on Automation Science and Engineering, CASE 2021
PublisherIEEE Computer Society
Pages724-731
Number of pages8
ISBN (Electronic)9781665418737
DOIs
StatePublished - Aug 23 2021
Event17th IEEE International Conference on Automation Science and Engineering, CASE 2021 - Lyon, France
Duration: Aug 23 2021Aug 27 2021

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2021-August
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference17th IEEE International Conference on Automation Science and Engineering, CASE 2021
Country/TerritoryFrance
CityLyon
Period8/23/218/27/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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