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A flexible hardware-in-the-loop architecture for UAVs
dc.contributor.author | Lepej, Peter |
dc.contributor.author | Santamaria Navarro, Àngel |
dc.contributor.author | Solà, Joan |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2017-10-16T13:14:00Z |
dc.date.available | 2017-10-16T13:14:00Z |
dc.date.issued | 2017 |
dc.identifier.citation | Lepej, P.; Santamaria, A.; Solà, J. A flexible hardware-in-the-loop architecture for UAVs. A: International Conference on Unmannead Aircraft Systems. "The 2017 International Conference on Unmannead Aircraft Systems, Miami, USA, June 13th-16th, 2017". Miami: 2017, p. 1751-1756. DOI 10.1109/ICUAS.2017.7991330. |
dc.identifier.uri | http://hdl.handle.net/2117/108722 |
dc.description | © 20xx 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. |
dc.description.abstract | As robotic technology matures, fully autonomous robots become a realistic possibility, but demand very complex solutions to be rapidly engineered. In order to be able to quickly set up a working autonomous system, and to reduce the gap between simulated and real experiments, we propose a modular, upgradeable and flexible hardware-in-the-loop (HIL) architecture, which hybridizes the simulated and real settings. We take as use case the autonomous exploration of dense forests with UAVs, with the aim of creating useful maps for forest inspection, cataloging, or to compute other metrics such as total wood volume. As the first step in the development of the full system, in this paper we implement a fraction of this architecture, comprising assisted localization, and automatic methods for mapping, planning and motion execution. Specifically we are able to simulate the use of a 3D LIDAR endowed below an actual UAV autonomously navigating among simulated obstacles, thus the platform safety is not compromised. The full system is modular and takes profit of pieces either publicly available or easily programmed. We highlight the flexibility of the proposed HIL architecture to rapidly configure different experimental setups with a UAV in challenging terrain. Moreover, it can be extended to other robotic fields without further design. The HIL system uses the multi-platform ROS capabilities and only needs a motion capture system as external extra hardware, which is becoming standard equipment in all research labs dealing with mobile robots. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.title | A flexible hardware-in-the-loop architecture for UAVs |
dc.type | Conference report |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.identifier.doi | 10.1109/ICUAS.2017.7991330 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.relation.publisherversion | http://ieeexplore.ieee.org/document/7991330/ |
dc.rights.access | Open Access |
local.identifier.drac | 21493515 |
dc.description.version | Postprint (author's final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/H2020/644271/EU/AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance/AEROARMS |
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local.citation.author | Lepej, P.; Santamaria, A.; Solà, J. |
local.citation.contributor | International Conference on Unmannead Aircraft Systems |
local.citation.pubplace | Miami |
local.citation.publicationName | The 2017 International Conference on Unmannead Aircraft Systems, Miami, USA, June 13th-16th, 2017 |
local.citation.startingPage | 1751 |
local.citation.endingPage | 1756 |