HeROS: A simulation platform for heterogeneous robotic swarms

Li, Shuai; Wan, Yuanfang; He, Pengzhou; Wang, Chen; Sun, Jing; Zhang, Yanling; Li, Xuyang; Xiel, Guangming

doi:10.23919/chicc.2019.8866413

Cited by 3 publications

(1 citation statement)

References 19 publications

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“…To evaluate the effectiveness of the proposed approach, we conducted experiments on the platform HeROS [18]. HeROS is a simulation platform for heterogeneous unmanned system which is developed based on V-rep software.…”

Section: A Implementation Details 1) Experimental Setupmentioning

confidence: 99%

Motion Planning for Heterogeneous Unmanned Systems under Partial Observation from UAV

Chen

Wan

et al. 2020

Preprint

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For heterogeneous unmanned systems composed of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs), using UAVs serve as eyes to assist UGVs in motion planning is a promising research direction due to the UAVs' vast view scope. However, due to UAVs flight altitude limitations, it may be impossible to observe the global map, and motion planning in the local map is a POMDP (Partially Observable Markov Decision Process) problem. This paper proposes a motion planning algorithm for heterogeneous unmanned system under partial observation from UAV without reconstruction of global maps, which consists of two parts designed for perception and decision-making, respectively. For the perception part, we propose the Grid Map Generation Network (GMGN), which is used to perceive scenes from UAV's perspective and classify the pathways and obstacles. For the decision-making part, we propose the Motion Command Generation Network (MCGN). Due to the addition of memory mechanism, MCGN has planning and reasoning abilities under partial observation from UAVs. We evaluate our proposed algorithm by comparing with baseline algorithms. The results show that our method effectively plans the motion of heterogeneous unmanned systems and achieves a relatively high success rate.

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Section: A Implementation Details 1) Experimental Setupmentioning

confidence: 99%

Motion Planning for Heterogeneous Unmanned Systems under Partial Observation from UAV

Chen

Wan

et al. 2020

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

Motion Planning for Heterogeneous Unmanned Systems under Partial Observation from UAV

Chen

Wan

et al. 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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A Survey on Open-Source Simulation Platforms for Multi-Copter UAV Swarms

Chen

Yan

et al. 2023

Robotics

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Simulation platforms are critical and indispensable tools for application developments of unmanned aerial vehicles (UAVs) because the UAVs are generally costly, have certain requirements for the test environment, and need professional licensed operators. Thus, developers prefer (or have) to test their applications on simulation platforms before implementing them on real machines. In the past decades, a considerable number of simulation platforms for robots have been developed, which brings convenience to developers, but also makes them hard to choose a proper one as they are not always familiar with all the features of platforms. To alleviate this dilemma, this paper provides a survey of open-source simulation platforms and employs the simulation of a multi-copter UAV swarm as an example. The survey covers seven widely used simulators, including Webots, Gazebo, CoppeliaSim, ARGoS, MRDS, MORSE, and USARSim. The paper outlines the requirements for multi-copter UAV swarms and shows how to select an appropriate platform. Additionally, the paper presents a case study of a UAV swarm based on Webots. This research will be beneficial to researchers, developers, educators, and engineers who seek suitable simulation platforms for application development, (not only multi-copter UAV swarms but also other types of robots), which further helps them to save expenses for testing, and speed up development progress.

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HeROS: A simulation platform for heterogeneous robotic swarms

Cited by 3 publications

References 19 publications

Motion Planning for Heterogeneous Unmanned Systems under Partial Observation from UAV

Motion Planning for Heterogeneous Unmanned Systems under Partial Observation from UAV

Motion Planning for Heterogeneous Unmanned Systems under Partial Observation from UAV

A Survey on Open-Source Simulation Platforms for Multi-Copter UAV Swarms

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