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A. Lukina, A. Kumar, M. Schmittle, A. Singh, J. Das, S. Rees, C. P. Buskirk, J. Sztipanovits, R. Grosu, V. Kumar:
"Formation Control and Persistent Monitoring in the OpenUAV Swarm Simulator on the NSF CPS-VO";
in: "The 9th ACM/IEEE International Conference on Cyber-Physical Systems", IEEE Computer Society, Porto, Portugal, 2018, 353 - 354.

Simulation tools offer a low barrier to entry and
enable testing and validation before field trials. However, most
of the well-known simulators today are challenging to use at
scale due to the need for powerful computers and the time
required for initial set up. The OpenUAV Swarm Simulator
was developed to address these challenges, enabling multiUAV simulations on the cloud through the NSF CPS-VO. We
leverage the Containers as a Service (CaaS) technology to
enable students and researchers carry out simulations on the
cloud on demand. We have based our framework on opensource tools including ROS, Gazebo, Docker, and the PX4 flight
stack, and we designed the simulation framework so that it
has no special hardware requirements. The demo and poster
will showcase UAV swarm trajectory optimization, and multiUAV persistent monitoring on the CPS-VO. The code for the
simulator is available on GitHub: https://github.com/Open-UAV.

formation, control, UAV

http://dx.doi.org/10.1109/ICCPS.2018.00050

https://publik.tuwien.ac.at/files/publik_275460.pdf