Functional Architecture using ROS for Autonomous UAVs

Johvany Gustave; Jamy Chahal; Assia Belbachir

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Paper

Functional Architecture using ROS for Autonomous UAVs

Topics: Decision Support Systems; Engineering Applications on Robotics and Automation; Modeling, Simulation and Architecture; Systems Modeling and Simulation; Systems Modeling and Simulation

In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics ICINCO - Volume 1, 506-512, 2020

Authors: Johvany Gustave ; Jamy Chahal and Assia Belbachir

Affiliation: Department of Aerospace Systems, IPSA, Ivry-Sur-Seine, France

Keyword(s): Functional Architecture, UAV, Quadrotor, ROS.

Abstract: Unmanned Aerial Vehicles (UAVs) are used for several applications due to their stability and versatility. In this paper, we developed a functional architecture for autonomous UAVs using Robot Operating System (ROS). Due to its flexibility and its easy-to-use implementation, our architecture simplifies embedding autonomous behaviours for any kind of UAV. This hierarchical architecture is divided into three layers: decision, control and perception layer. In this paper, all the layers and their implementation under ROS are explained and detailed.

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Paper citation in several formats:

Gustave, J.; Chahal, J. and Belbachir, A. (2020). Functional Architecture using ROS for Autonomous UAVs. In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-442-8; ISSN 2184-2809, SciTePress, pages 506-512. DOI: 10.5220/0009888305060512

@conference{icinco20,
author={Johvany Gustave. and Jamy Chahal. and Assia Belbachir.},
title={Functional Architecture using ROS for Autonomous UAVs},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2020},
pages={506-512},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009888305060512},
isbn={978-989-758-442-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Functional Architecture using ROS for Autonomous UAVs
SN - 978-989-758-442-8
IS - 2184-2809
AU - Gustave, J.
AU - Chahal, J.
AU - Belbachir, A.
PY - 2020
SP - 506
EP - 512
DO - 10.5220/0009888305060512
PB - SciTePress