Porting Ardupilot to Esp32: Towards a Universal Open-Source Architecture for Agile and Easily Replicable Multi-Domains Mapping Robots

Abstract

Abstract. In this article, we are interested in the implementation of an open-source low-level architecture (critical system) adapted to agile and easily replicable close-range remote sensing robots operating in multiple evolution domains. After reviewing the existing autopilots responding to these needs, we discuss the available hardware solutions and their limits. Then, we propose an original solution (software and hardware) that we developed to obtain a universal low-level architecture for all our exploration robots, whatever their environment of evolution, and the steps needed to make it run on our chosen family of micro-controllers: the ESP32. Finally, we present the operational results obtained on our different platforms (land, surface, submarine and air), their limits and the envisaged perspectives.

Robotics cyber security: vulnerabilities, attacks, countermeasures, and recommendations

“…The experimental results, conducted on a quad-rotor and a rover, reveal the ability to safely recover the vehicle from various attacks and prevent crashing. Beaudoin et al presented an original software/hardware solution to obtain a universal low-level architecture for agile and easily replicable close-range remote sensing robots in different environments and on different platforms (land, surface, submarine and air) [256]. Beaudoin et al also discussed the wise choice of Ardupilot as an autopilot and presented the ESP32 as an effective new hardware solution in terms of price and energy consumption.…”