Trajectory tracking of leader-follower formations characterized by constant line-of-sight angles
Automatica (Journal of IFAC)
Map fusion in an independent multi-robot approach
WSEAS TRANSACTIONS on SYSTEMS
A Visual Global Positioning System for Unmanned Aerial Vehicles Used in Photogrammetric Applications
Journal of Intelligent and Robotic Systems
Towards multi-robot independent visual SLAM
ICS'10 Proceedings of the 14th WSEAS international conference on Systems: part of the 14th WSEAS CSCC multiconference - Volume I
A Modular Framework for Fast Prototyping of Cooperative Unmanned Aerial Vehicle
Journal of Intelligent and Robotic Systems
Control and Navigation Framework for Quadrotor Helicopters
Journal of Intelligent and Robotic Systems
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Today, Unmanned Aerial Vehicles (UAVs) have deeply modified the concepts of surveillance, Search&Rescue, aerial photogrammetry, mapping, etc. The kinds of missions grow continuously; missions are in most cases performed by a fleet of cooperating autonomous and heterogeneous vehicles. These systems are really complex and it becomes fundamental to simulate any mission stage to exploit benefits of simulations like repeatability, modularity and low cost. In this paper a framework for simulation and testing of UAVs in cooperative scenarios is presented. The framework, based on modularity and stratification in different specialized layers, allows an easy switching from simulated to real environments, thus reducing testing and debugging times, especially in a training context. Results obtained using the proposed framework on some test cases are also reported.