Multilevel host-compiled simulation framework for ROS-based UAV services using ArduCopter

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URI: http://hdl.handle.net/10902/23716
ISBN: 978-1-6654-2116-4
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Autoría
Merino Calleja, JavierAutoridad Unican; Gómez Varela, RaúlAutoridad Unican; Posadas Cobo, HéctorAutoridad Unican; Villar Bonet, Eugenio, 1957-Autoridad Unican
Fecha
2021
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© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Publicado en
XXXVI Conference on Design of Circuits and Integrated Systems (DCIS), Vila do Conde, Portugal, 2021
Editorial
Institute of Electrical and Electronics Engineers, Inc.
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Palabras clave
UAV
Drone
ArduCopter
Simulation
ROS
Multilevel
Host-compiled
Resumen/Abstract
New services and business models based on drones are continuously being proposed. System engineering for these services have to include simulation as the cost of detecting design mistakes during the first prototype flights may be very high. If this fact is true in any complex system, in the case of drone-based services design mistakes may compromise the drones and the payload they carry increasing the associated cost. System verification has to be made at different abstraction levels so that each design step is verified. As a consequence, a multilevel simulation framework is needed. In this paper, such a simulation framework is proposed able to verify the system functionality and performance along the design process.
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