Title: A framework for multi-UAV software in the loop simulations

Authors: Ernesto Santana; Romualdo Moreno; Christian Sánchez; Miquel Àngel Piera

Addresses: Department of Telecommunication and Systems Engineering, Autonomous University of Barcelona, Spain ' Department of Telecommunication and Systems Engineering, Autonomous University of Barcelona, Spain ' Department of Telecommunication and Systems Engineering, Autonomous University of Barcelona, Spain ' Department of Telecommunication and Systems Engineering, Autonomous University of Barcelona, Spain

Abstract: In this paper, we present a software-in-the-loop simulation framework for multi-UAV systems which allows test the implementation of single or multi-UAV applications, including different cooperation algorithms, sense and avoid algorithms, etc. without taking any risk. In our proposed framework, we can test the correct execution of algorithms and since our setup is inherently multi-UAV, we can also test the communication flow among the vehicles. The simulation framework has been developed as a functional extension of mission planner, open source software aimed to plan, control and analyse data from missions of a single UAV driven by Ardupilot flight controllers.

Keywords: software in the loop; SIL; multi-UAV; mission planner; simulation framework; real-time simulator.

DOI: 10.1504/IJSCOM.2018.091613

International Journal of Service and Computing Oriented Manufacturing, 2018 Vol.3 No.2/3, pp.190 - 211

Received: 20 Jun 2017
Accepted: 26 Oct 2017
Published online: 08 May 2018 *

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