TY - GEN
T1 - An open-source hardware/software architecture for quadrotor UAVs
AU - Spica, Riccardo
AU - Giordano, Paolo Robuffo
AU - Ryll, Markus
AU - Bülthoff, Heinrich H.
AU - Franchi, Antonio
PY - 2013
Y1 - 2013
N2 - In this paper, we illustrate an open-source ready-to-use hardware/software architecture for a quadrotor UAV. The presented platform is price effective, highly customizable, and easily exploitable by other researchers involved in high-level UAV control tasks and for educational purposes as well. The use of object-oriented programming and full support of Robot Operating System (ROS) and Matlab Simulink allows for an efficient customization, code reuse, functionality expansion and rapid prototyping of new algorithms. We provide an extensive illustration of the various UAV components and a thorough description of the main basic algorithms and calibration procedures. Finally, we present some experimental case studies aimed at showing the effectiveness of the proposed architecture.
AB - In this paper, we illustrate an open-source ready-to-use hardware/software architecture for a quadrotor UAV. The presented platform is price effective, highly customizable, and easily exploitable by other researchers involved in high-level UAV control tasks and for educational purposes as well. The use of object-oriented programming and full support of Robot Operating System (ROS) and Matlab Simulink allows for an efficient customization, code reuse, functionality expansion and rapid prototyping of new algorithms. We provide an extensive illustration of the various UAV components and a thorough description of the main basic algorithms and calibration procedures. Finally, we present some experimental case studies aimed at showing the effectiveness of the proposed architecture.
UR - http://www.scopus.com/inward/record.url?scp=84896380258&partnerID=8YFLogxK
U2 - 10.3182/20131120-3-FR-4045.00006
DO - 10.3182/20131120-3-FR-4045.00006
M3 - Conference contribution
AN - SCOPUS:84896380258
SN - 9783902823571
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 198
EP - 205
BT - 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings
PB - IFAC Secretariat
T2 - 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013
Y2 - 20 November 2013 through 22 November 2013
ER -