A framework for multi-UAV software in the loop simulations. (2018)

• Record Type: Journal Article
• Authors: Santana, Ernesto; Moreno, Romualdo; Sánchez, Christian; Piera, Miquel Àngel
• Is Part Of: International journal of service and computing oriented manufacturing. Volume 3:Number 2/3(2018)
• Page Start: 190
• Page End: 211
• Publication Date: 2018
• Subjects: software in the loop -- SIL -- multi-UAV -- mission planner -- simulation framework -- real-time simulator; Computer integrated manufacturing systems -- Periodicals; Manufacturing industries -- Information technology -- Periodicals; Manufacturing industries -- Computer networks -- Periodicals; Service-oriented architecture (Computer science) -- Periodicals; 670.285
• Languages: English
• ISSNs: 2045-175X

Abstract

In this paper, we present a software-in-the-loop simulation framework for multi-UAV systems which allows test the implementation of single or multi-UAV applications, including different cooperation algorithms, sense and avoid algorithms, etc. without taking any risk. In our proposed framework, we can test the correct execution of algorithms and since our setup is inherently multi-UAV, we can also test the communication flow among the vehicles. The simulation framework has been developed as a functional extension of mission planner, open source software aimed to plan, control and analyse data from missions of a single UAV driven by Ardupilot flight controllers.