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

2018 ACM/IEEE 9th International Conference on Cyber-Physical Systems (ICCPS) Pub Date : 2018-04-11 DOI:10.1109/ICCPS.2018.00050

Anna Lukina, Arjun Kumar, Matt Schmittle, Abhijeet Singh, J. Das, Stephen A. Rees, C. V. Buskirk, J. Sztipanovits, R. Grosu, Vijay R. Kumar

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引用次数: 4

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.

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基于NSF CPS-VO的开放式无人机群模拟器编队控制与持续监测

模拟工具的进入门槛较低，能够在现场试验之前进行测试和验证。然而，由于需要强大的计算机和初始设置所需的时间，今天大多数知名的模拟器都难以大规模使用。OpenUAV群模拟器是为了解决这些挑战而开发的，通过NSF CPS-VO在云中实现多无人机模拟。我们利用容器即服务(CaaS)技术，使学生和研究人员能够按需在云上进行模拟。我们的框架基于开源工具，包括ROS、Gazebo、Docker和PX4飞行堆栈，我们设计的仿真框架没有特殊的硬件要求。演示和海报将展示无人机群轨迹优化和多无人机在CPS-VO上的持续监控。模拟器的代码可以在GitHub上找到:https://github.com/Open-UAV。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2018 ACM/IEEE 9th International Conference on Cyber-Physical Systems (ICCPS)

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