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M. Schmittle, A. Lukina, L. Vacek, J. Das, C. P. Buskirk, S. Rees, J. Sztipanovits, R. Grosu, V. Kumar:
"OpenUAV: A UAV Testbed for the CPS and Robotics Community";
in: "The 9th ACM/IEEE International Conference on Cyber-Physical Systems", IEEE Computer Society, Porto, Portugal, 2018, S. 130 - 139.

Multirotor Unmanned Aerial Vehicles (UAV) have
grown in popularity for research and education, overcoming
challenges associated with fixed wing and ground robots.
Unfortunately, extensive physical testing can be expensive and
time consuming because of short flight times due to battery
constraints and safety precautions. Simulation tools offer a low
barrier to entry and enable testing and validation before field
trials. However, most of the well-known simulators today have
a high barrier to entry due to the need for powerful computers
and the time required for initial set up. In this paper, we
present OpenUAV, an open source test bed for UAV education
and research that overcomes these barriers. We leverage the
Containers as a Service (CaaS) technology to enable students
and researchers carry out simulations on the cloud. We have
based our framework on open-source tools including ROS,
Gazebo, Docker, PX4, and Ansible, we designed the simulation
framework so that it has no special hardware requirements.
Two use-cases are presented. First, we show how a UAV can
navigate around obstacles, and second, we test a multi-UAV
swarm formation algorithm. To our knowledge, this is the
first open-source, cloud-enabled testbed for UAVs. The code
is available on GitHub: https://github.com/Open-UAV.

simulator, testbed, UAV, openUAV

http://dx.doi.org/10.1109/ICCPS.2018.00021

https://publik.tuwien.ac.at/files/publik_275473.pdf