|Title||An Open-Source Hardware/Software Architecture for Quadrotor UAVs|
|Publication Type||Conference Paper|
|Year of Publication||2013|
|Authors||Spica, R, Robuffo Giordano, P, Ryll, M, Bülthoff, HH, Franchi, A|
|Conference Name||2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems|
|Conference Location||Compiegne, France|
|Keywords||Aerial Robotics, UAV hardware platforms|
In this paper, we illustrate an open-source ready-to-use hardware/software architecture for a quadrotor UAV. The presented platform is price effective, highly customizable, and easily exploitable by other researchers involved in high-level UAV control tasks and for educational purposes as well. The use of object-oriented programming and full support of Robot Operating System (ROS) and Matlab Simulink allows for an efficient customization, code reuse, functionality expansion and rapid prototyping of new algorithms. We provide an extensive illustration of the various UAV components and a thorough description of the main basic algorithms and calibration procedures. Finally, we present some experimental case studies aimed at showing the effectiveness of the proposed architecture.