Comprehensive Simulation of Quadrotor UAVs Using ROS and Gazebo

Meyer, Johannes; Sendobry, Alexander; Kohlbrecher, Stefan; Klingauf, Uwe; Stryk, Oskar von

doi:10.1007/978-3-642-34327-8_36

Cited by 263 publications

(116 citation statements)

References 10 publications

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“…Swarm robotics seeks to augment the capability of the quadrotors that work together to create more capable entity that will represent the overall inspection system. By having multiple quadrotors working cooperatively the control system is able to reduce the time of inspection and adding more quadrotors • Sensor interference: Since feedback variables must be gather from measurement sensors and these will never be fully accurate and precise, then error models for these must be taken into account (Meyer et al, 2012). …”

Section: Swarm Robotics In Quadrotors For Crop Inspectionsmentioning

confidence: 99%

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Swarm Robotics as a Solution to Crops Inspection for Precision Agriculture

Carbone

Garibaldi

Kurt

2018

KEG

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This paper summarizes the concept of swarm robotics and its applicability to crop inspections. To increase the agricultural yield it is essential to monitor the crop health.Hence, precision agriculture is becoming a common practice for farmers providing a system that can inspect the state of the plants ( Khosla and others, 2010). One of the rising technologies used for agricultural inspections is the use of unmaned air vehicles (UAVs) which are used to take aerial pictures of the farms so that the images could be processed to extract data about the state of the crops (Das et al., 2015). For this process both fixed wings and quadrotors UAVs are used with a preference over the quadrotor since it's easier to operate and has a milder learning curve compared to fixed wings (Kolodny, 2017). UAVs require battery replacement especially when the environmental conditions result in longer inspection times ("Agriculture -Maximize Yields with Aerial Imaging," n.d., "Matrice 100 -DJI Wiki," n.d.). As a result, inspection systems for crops using commercial quadrotors are limited by the quadrotor´s maximum flight speed, maximum flight height, quadrotor´s battery time, crops area, wind conditions, etc.("Mission Estimates," n.d.).

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Section: Swarm Robotics In Quadrotors For Crop Inspectionsmentioning

confidence: 99%

“…• Quadrotor speed limit: Maximum speed will limit the capability of the quadrotor swarm according to their amount ("Matrice 100 -DJI Wiki," n. • Wind speed: Wind forces can make the quadrotor lose accuracy in flight and spend more energy (Meyer et al, 2012). …”

Section: Swarm Robotics In Quadrotors For Crop Inspectionsmentioning

confidence: 99%

Swarm Robotics as a Solution to Crops Inspection for Precision Agriculture

Carbone

Garibaldi

Kurt

2018

KEG

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“…The package provides for auto-discovery of robots and sensors, and produces the standard ROS topics that one would expect from a physical platform. Several researchers from outside the RoboCup community [10,12] have already tried this interface. Still, further work is needed to provide the control interface for legged robots (as the Nao robot) and ying robots (such as the AirRobot and the AR.Drone).…”

Section: Discussionmentioning

confidence: 99%

Enabling Codesharing in Rescue Simulation with USARSim/ROS

Kootbally

Balakirsky

Visser

2014

RoboCup 2013: Robot World Cup XVII

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Abstract. The Robot Operating System (ROS) has been steadily gaining popularity among robotics researchers as an open source framework for robot control. The Unied System for Automation and Robot Simulation (USARSim) has been used for many years by robotics researchers and developers as a validated framework for simulation. This paper presents a new ROS node that is designed to seamlessly interface between ROS and USARSim. It provides for automatic conguration of ROS transforms and topics to allow for full utilization of the simulated hardware. The design of the new node as well as examples of its use for mobile robot inside the RoboCup Rescue Simulation League are presented.

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“…We present now simulations in ROS for a dynamical model (i.e. a modification of the Hector quadrotor stack [23] with the Asctec Pelican parameters) using the Gazebo simulator. The arm Denavit-Hartenberg parameters are given in Table I. The quadrotor-arm system is teleoperated to an initial position as shown in Fig.…”

Section: Simulationsmentioning

confidence: 99%

Task priority control for aerial manipulation

Santamaria-Navarro

Lippiello

Andrade‐Cetto

2014

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)

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Abstract-This paper presents a task oriented control strategy for aerial vehicles equipped with a manipulator. A camera is attached to the end-effector of the manipulator to perform a primary task consisting on visual servoing towards a desired target. Over-actuation of the whole quadrotor-arm system is exploited to achieve secondary velocity tasks. One subtask is proposed to horizontally stabilize the platform during flight by aligning the arm center of gravity with the quadrotor gravitational vector. The arm singularities and manipulability are addressed by another subtask that leads the arm to a preferable configuration, and also takes into account the arm joint limits. The performance of the whole visual servo and secondary tasks control scheme is shown in a Robot Operating System (ROS) implementation.

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Comprehensive Simulation of Quadrotor UAVs Using ROS and Gazebo

Cited by 263 publications

References 10 publications

Swarm Robotics as a Solution to Crops Inspection for Precision Agriculture

Swarm Robotics as a Solution to Crops Inspection for Precision Agriculture

Enabling Codesharing in Rescue Simulation with USARSim/ROS

Task priority control for aerial manipulation

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