相关论文: ROS2-Based Simulation Framework for Cyberphysical …

Co-simulation is a critical approach for the design and analysis of complex cyber-physical systems. It will enhance development efficiency and reduce costs. This paper presents a co-simulation framework integrating ROS 2 and MATLAB/Simulink…

Autonomous vehicles (AVs) rely on complex perception and communication systems, making them vulnerable to adversarial attacks that can compromise safety. While simulation offers a scalable and safe environment for robustness testing,…

Aerial scans with unmanned aerial vehicles (UAVs) are becoming more widely adopted across industries, from smart farming to urban mapping. An application area that can leverage the strength of such systems is search and rescue (SAR)…

ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to…

Conducting safety simulations in various simulators, such as the Gazebo simulator, became a very popular means of testing vehicles against potential safety risks (i.e. crashes). However, this was not the case with security testing.…

In this paper a modular and scalable architecture for heterogeneous swarm-based Counter Unmanned Aerial Systems (C-UASs) built on PX4-Autopilot and Robot Operating System 2 (ROS 2) framework is presented. The proposed architecture…

Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both…

Unmanned aerial vehicle (UAV) research requires the integration of cutting-edge technology into existing autopilot frameworks. This process can be arduous, requiring extensive resources, time, and detailed knowledge of the existing system.…

Visual Simultaneous Localization and Mapping (v-SLAM) and navigation of multirotor Unmanned Aerial Vehicles (UAV) in an unknown environment have grown in popularity for both research and education. However, due to the complex hardware…

The communication system is a critical part of the system design for the autonomous UAV. It has to address different considerations, including efficiency, reliability and mobility of the UAV. In addition, a multi-UAV system requires a…

This paper presents the ARCAD simulator for the rapid development of Unmanned Aerial Systems (UAS), including underactuated and fully-actuated multirotors, fixed-wing aircraft, and Vertical Take-Off and Landing (VTOL) hybrid vehicles. The…

The development of autonomous aerial systems, particularly for multi-robot configurations, is a complex challenge requiring multidisciplinary expertise. Unlike ground robotics, aerial robotics has seen limited standardization, leading to…

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…

We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…

Uncrewed Aerial Vehicle (UAV) research faces challenges with safety, scalability, costs, and ecological impact when conducting hardware testing. High-fidelity simulators offer a vital solution by replicating real-world conditions to enable…

This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor…

Unmanned Aerial Vehicles (UAVs) increasingly enhance the Quality of Service (QoS) in wireless networks due to their flexibility and cost-effectiveness. However, optimizing UAV placement in dynamic, obstacle-prone environments remains a…

In the coming years, usage of Unmanned Aerial Vehicles (UAVs) is expected to grow tremendously. Maintaining security of UAVs under cyber attacks is an important yet challenging task, as these attacks are often erratic and difficult to…

We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…

Unmanned aerial vehicle (UAV) swarms are increasingly deployed in vast low-altitude applications, owing to their capabilities in distributed sensing, flexible communication, and autonomous coordination. Nevertheless, the open and highly…