TY - GEN
T1 - OpenUAV Cloud Testbed
T2 - 17th IEEE International Conference on Automation Science and Engineering, CASE 2021
AU - Anand, Harish
AU - Rees, Stephen A.
AU - Chen, Zhiang
AU - Poruthukaran, Ashwin Jose
AU - Bearman, Sarah
AU - Prasad Antervedi, Lakshmi Gana
AU - Das, Jnaneshwar
N1 - Funding Information:
This work was supported in part by the National Science Foundation award CNS-1521617. We would also like to acknowledge the contributions and suggestions made by students and researchers who participated in the SES 494/598 course, SES 230 course, NSF CPS Challenge, and CPS-VO users. We also like to thank Darwin Mick, Student, ASU, Bryant Grady, Graduate Student, ASU School of Geographical Sciences and Urban Planning, Dr. Roberta Martin, Associate Professor, ASU Center for Global Discovery and Conservation Science, and Dr. John Burns, Assistant Professor, the University of Hawai‘i at Hilo.
Funding Information:
*This work was supported by NSF award CNS-1521617 Authors are with the School of Earth and Space Exploration, Tempe, Arizona hanand4,zchen256, aporuthu,sbearman,lanterve,jdas5@asu.edu and Stephen is a staff at Vanderbilt University, Nashville, Tennessee stephen.a.rees@vanderbilt.edu
Publisher Copyright:
© 2021 IEEE.
PY - 2021/8/23
Y1 - 2021/8/23
N2 - Simulations play a crucial role in robotics research and education. This paper presents the OpenUAV testbed, an open-source, easy-to-use, web-based, and reproducible software system that enables students and researchers to run robotic simulations on the cloud. We have built upon our previous work and have addressed some of the educational and research challenges associated with the prior work. The critical contributions of the paper to the robotics and automation community are threefold: First, OpenUAV saves students and researchers from tedious and complicated software setups by providing web-browser-based Linux desktop sessions with standard robotics software like Gazebo, ROS, and flight autonomy stack. Second, a method for saving an individual's research work with its dependencies for the work's future reproducibility. Third, the platform provides a mechanism to support photorealistic robotics simulations by combining Unity game engine-based camera rendering and Gazebo physics. The paper addresses a research need for photorealistic simulations and describes a methodology for creating a photorealistic aquatic simulation. We also present the various academic and research use-cases of this platform to improve robotics education and research, especially during times like the COVID-19 pandemic, when virtual collaboration is necessary. GitHub https://github.com/Open-UAV/openuav-turbovnc Webpage: https://openuav.us
AB - Simulations play a crucial role in robotics research and education. This paper presents the OpenUAV testbed, an open-source, easy-to-use, web-based, and reproducible software system that enables students and researchers to run robotic simulations on the cloud. We have built upon our previous work and have addressed some of the educational and research challenges associated with the prior work. The critical contributions of the paper to the robotics and automation community are threefold: First, OpenUAV saves students and researchers from tedious and complicated software setups by providing web-browser-based Linux desktop sessions with standard robotics software like Gazebo, ROS, and flight autonomy stack. Second, a method for saving an individual's research work with its dependencies for the work's future reproducibility. Third, the platform provides a mechanism to support photorealistic robotics simulations by combining Unity game engine-based camera rendering and Gazebo physics. The paper addresses a research need for photorealistic simulations and describes a methodology for creating a photorealistic aquatic simulation. We also present the various academic and research use-cases of this platform to improve robotics education and research, especially during times like the COVID-19 pandemic, when virtual collaboration is necessary. GitHub https://github.com/Open-UAV/openuav-turbovnc Webpage: https://openuav.us
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U2 - 10.1109/CASE49439.2021.9551638
DO - 10.1109/CASE49439.2021.9551638
M3 - Conference contribution
AN - SCOPUS:85117032387
T3 - IEEE International Conference on Automation Science and Engineering
SP - 724
EP - 731
BT - 2021 IEEE 17th International Conference on Automation Science and Engineering, CASE 2021
PB - IEEE Computer Society
Y2 - 23 August 2021 through 27 August 2021
ER -