sUAS for deployment and recovery of an environmental sensor probe

Vacek, Lukas; Atter, Edward; Rizo, Pedro; Nam, Brian; Ryan, Kortvelesy,; Kaufman, D.R.; Das, Jnaneshwar; Kumar, Vijay

doi:10.1109/icuas.2017.7991484

Cited by 3 publications

(1 citation statement)

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“…To achieve real autonomy in applications such as indoor or outdoor mapping, disaster response, sensor deployment and environmental-monitoring, UAS software must demonstrate a semantic understanding of the environment. [2] [3] The OpenUAV testbed was developed to reduce the number of field trials and crashes of sUAS systems by implementing a simulation environment that allows extensive testing and mission synthesis for a swarm of aircraft [4]. In this paper, we describe improvements to this testbed, enabling interactive use of cloud resources on a browser.…”

Section: Introductionmentioning

confidence: 99%

OpenUAV Cloud Testbed: a Collaborative Design Studio for Field Robotics

Anand¹,

Rees²,

Chen³

et al. 2019

Preprint

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In this paper, we showcase a multi-robot design studio where simulation containers are browser accessible Lubuntu desktops. Our simulation testbed, based on ROS, Gazebo, PX4 flight stack has been developed to tackle higherlevel challenging tasks such as mission planning, vision-based problems, collision avoidance, and multi-robot coordination for Unpiloted Aircraft Systems (UAS). The novel architecture is built around TurboVNC and noVNC WebSockets technology, to seamlessly provide real-time web performance for 3D rendering in a collaborative design tool. We have built upon our previous work that leveraged concurrent multi-UAS simulations, and extended it to be useful for underwater, airship and ground vehicles. This opens up the possibility for both rigorous Monte Carlo styled software testing of heterogeneous swarm simulations, as well as sampling-based optimization of mission parameters. The new OpenUAV architecture has native support for ROS, PX4 and QGroundControl. Two case studies in the paper illustrate the development of UAS missions in the latest OpenUAV setup. The first example highlights the development of a visual-servoing technique for UAS descent on a target. Second case study referred to as terrain relative navigation (TRN) involves creating a reactive planner for UAS navigation by keeping a constant distance from the terrain.

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Section: Introductionmentioning

confidence: 99%