CrazyS: A Software-In-The-Loop Platform for the Crazyflie 2.0 Nano-Quadcopter

Silano, Giuseppe; Aucone, Emanuele; Iannelli, Luigi

doi:10.1109/med.2018.8442759

Cited by 34 publications

(10 citation statements)

References 18 publications

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“…There are also platforms from ASL (created by R. Siegwart's group at ETH) [75] and FLA (a joint platform from GRASP and U-Zurich) [52] that have relatively high weights and low agility. On the other hand, the relatively small Crazyflie [32,78,81] platform does not allow for sufficient onboard computation or sensing. Finally, the platforms from S. Karaman's group from MIT [5] and GRASP (created by V. Kumar's group from UPenn) [47] do not provide open-source software and hardware.…”

Section: Contributions Beyond the State-of-the-artmentioning

confidence: 99%

MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems

Heřt

Báča

Petráček

et al. 2023

J Intell Robot Syst

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This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with respect to changes in actuators, frames, and sensory configuration. As the name suggests, the platform is specially tailored for deployment within a MRS group. The MRS Drone contributes to the state-of-the-art of UAV platforms by allowing smooth real-world deployment of multiple aerial robots, as well as by outperforming other platforms with its modularity. For real-world multi-robot deployment in various applications, the platform is easy to both assemble and modify. Moreover, it is accompanied by a realistic simulator to enable safe pre-flight testing and a smooth transition to complex real-world experiments. In this manuscript, we present mechanical and electrical designs, software architecture, and technical specifications to build a fully autonomous multi UAV system. Finally, we demonstrate the full capabilities and the unique modularity of the MRS Drone in various real-world applications that required a diverse range of platform configurations.

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Section: Contributions Beyond the State-of-the-artmentioning

confidence: 99%

MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems

Heřt

Báča

Petráček

et al. 2023

J Intell Robot Syst

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“…La señal de control que recibe el dron es un pulso PWM transmitido en una señal de 16 bits, por lo que el rango de la señal de control está comprendido entre [0, 65536]. Los parámetros empleados son una combinación extraída de [14,22]. Para atenuar el ruido de alta frecuencia se ha implementado un filtro paso bajo en el término derivativo del PID.…”

Section: Arquitectura De Controlunclassified

Control basado en eventos mediante umbral relativo aplicado al control de altitud de cuadricópteros Crazyflie 2.1

Mañas-Álvarez¹,

Guinaldo²,

Dormido³

et al. 2021

Xlii Jornadas De Automática : Libro De Actas

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En este trabajo se presenta el diseño de un controlador basado en eventos para el control de altitud del Crazyflie 2.1. La novedad estriba en la implementación del generador de eventos mediante un umbral relativo. La adaptación de este umbral se realiza en función de la distancia a la referencia y la presencia de ruido en el sistema. Los resultados obtenidos muestran una reducción del 93% de actualizaciones de la señal de control requeridas frente a controladores basados en eventos con umbral fijo o controladores de tipo periódico.

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“…Moreover the flight control system architecture is presented together with the on-board sensors model. Contents of this section are inspired by our previous work [42] but are here reviewed and explored in detail.…”

Section: Crazyflie 20 Nano-quadcoptermentioning

confidence: 99%

“…With the boom of motion sensing devices, such as the Microsoft Kinect or the Asus Xtion, RGBD cameras became easily available for roboticists worldwide, and several approaches for 3D mapping using these cameras were presented [42,43]. These works provide full 3D mapping systems, estimating the camera's motion through spacial features and pose optimization, thus generating occupancy voxel grid models that are globally consistent.…”

Section: Introductionmentioning

confidence: 99%

Robot Operating System (ROS)

2020

Studies in Computational Intelligence

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This is the fourth volume of the successful series Robot Operating Systems: The Complete Reference, providing a comprehensive overview of robot operating systems (ROS), which is currently the main development framework for robotics applications, as well as the latest trends and contributed systems. The book is divided into four parts: Part 1 features two papers on navigation, discussing SLAM and path planning. Part 2 focuses on the integration of ROS into quadcopters and their control. Part 3 then discusses two emerging applications for robotics: cloud robotics, and video stabilization. Part 4 presents tools developed for ROS; the first is a practical alternative to the roslaunch system, and the second is related to penetration testing. This book is a valuable resource for ROS users and wanting to learn more about ROS capabilities and features.

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CrazyS: A Software-In-The-Loop Platform for the Crazyflie 2.0 Nano-Quadcopter

Cited by 34 publications

References 18 publications

MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems

MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems

Control basado en eventos mediante umbral relativo aplicado al control de altitud de cuadricópteros Crazyflie 2.1

Robot Operating System (ROS)

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