TY - GEN
T1 - Formation Control and Persistent Monitoring in the OpenUAV Swarm Simulator on the NSF CPS-VO
AU - Lukina, Anna
AU - Kumar, Arjun
AU - Schmittle, Matt
AU - Singh, Abhijeet
AU - Das, Jnaneshwar
AU - Rees, Stephen
AU - Buskirk, Christopher P.
AU - Sztipanovits, Janos
AU - Grosu, Radu
AU - Kumar, Vijay
N1 - Funding Information:
ACKNOWLEDGMENT We gratefully acknowledge NSF grant CNS-1521617, USDA grant 2015-67021-23857 under the National Robotics Initiative, a gift from Microsoft Research, the Doctoral Program Logical Methods in Computer Science and the Austrian National Research Network RiSE/SHiNE (S11412-N23) project funded by the Austrian Science Fund (FWF) project W1255-N23 for supporting this work.
Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/21
Y1 - 2018/8/21
N2 - Simulation tools offer a low barrier to entry and enable testing and validation before field trials. However, most of the well-known simulators today are challenging to use at scale due to the need for powerful computers and the time required for initial set up. The OpenUAV Swarm Simulator was developed to address these challenges, enabling multi-UAV simulations on the cloud through the NSF CPS-VO. We leverage the Containers as a Service (CaaS) technology to enable students and researchers carry out simulations on the cloud on demand. We have based our framework on opensource tools including ROS, Gazebo, Docker, and the PX4 flight stack, and we designed the simulation framework so that it has no special hardware requirements. The demo and poster will showcase UAV swarm trajectory optimization, and multi-UAV persistent monitoring on the CPS-VO. The code for the simulator is available on GitHub: Https://github.com/Open-UAV.
AB - Simulation tools offer a low barrier to entry and enable testing and validation before field trials. However, most of the well-known simulators today are challenging to use at scale due to the need for powerful computers and the time required for initial set up. The OpenUAV Swarm Simulator was developed to address these challenges, enabling multi-UAV simulations on the cloud through the NSF CPS-VO. We leverage the Containers as a Service (CaaS) technology to enable students and researchers carry out simulations on the cloud on demand. We have based our framework on opensource tools including ROS, Gazebo, Docker, and the PX4 flight stack, and we designed the simulation framework so that it has no special hardware requirements. The demo and poster will showcase UAV swarm trajectory optimization, and multi-UAV persistent monitoring on the CPS-VO. The code for the simulator is available on GitHub: Https://github.com/Open-UAV.
KW - CPS-VO
KW - Monitoring
KW - formation-control
KW - swarm-simulator
UR - http://www.scopus.com/inward/record.url?scp=85053534355&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85053534355&partnerID=8YFLogxK
U2 - 10.1109/ICCPS.2018.00050
DO - 10.1109/ICCPS.2018.00050
M3 - Conference contribution
AN - SCOPUS:85053534355
SN - 9781538653012
T3 - Proceedings - 9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018
SP - 353
EP - 354
BT - Proceedings - 9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2018
Y2 - 11 April 2018 through 13 April 2018
ER -