This workshop paper presents the challenges we encountered when simulating fully-actuated Unmanned Aerial Vehicles (UAVs) for our research and the solutions we developed to overcome the challenges. We describe the ARCAD simulator that has helped us rapidly implement and test different controllers ranging from Hybrid Force-Position Controllers to advanced Model Predictive Path Integrals and has allowed us to analyze the design and behavior of different fully-actuated UAVs. We used the simulator to enable real-world deployments of our fully-actuated UAV fleet for different applications. The simulator is further extended to support the physical interaction of UAVs with their environment and allow more UAV designs, such as hybrid VTOLs. The code for the simulator can be accessed from https://github.com/keipour/aircraft-simulator-matlab.
@article{arxiv.2305.07228,
title = {A Simulator for Fully-Actuated UAVs},
author = {Azarakhsh Keipour and Mohammadreza Mousaei and Sebastian Scherer},
journal= {arXiv preprint arXiv:2305.07228},
year = {2023}
}
Comments
The 2023 International Conference on Robotics and Automation (ICRA), Workshop on The Role of Robotics Simulators for Unmanned Aerial Vehicles