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Development of a Simulation Environment in Gazebo for a Distributed Autonomous Flying Testbed


M. Schütte

Semester Thesis, SS16 (10500)

This paper describes the setup of a simulation environment for a Distributed Autonomous Flying Testbed using an advanced robotic software stack as a framework as well as the implementation of certain components for the simulated system. Using this simulated testbed, each aspect of a distributively controlled swarm of multirotor Unmanned Aerial Vehicles can be simulated and evaluated with high accuracy, eradicating the need for a spacious testing environment as well as time consuming real-world setups and test runs for early development stages. The simulation environment, consisting of Robot Operating System (ROS), Gazebo, a 3D visual dynamics simulator, and the RotorS Micro Aerial Vehicle package for ROS/Gazebo, is introduced and its core concepts are described to the reader. The simulated system is defined, sensors, position controllers and distributed controllers are introduced and their C++ implementation Is explained. Furthermore, three communication architectures for distributed controllers in swarm operation are introduced and roughly analyzed for best suitability. The chosen architecture is tested with a Distributed Attraction Controller and a Distributed Leader-Follower controller is showcased as starting ground for further development. Finally, a rough performance analysis is made and ideas for further development of this simulation testbed are presented.

Supervisors: Paul Beuchat, Yvonne Stürz, Roy Smith, John Lygeros


Type of Publication:

(13)Semester/Bachelor Thesis

P. Beuchat

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2016:IFA_5467
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