A UTM simulator based on ROS and Gazebo

Millan-Romera, Jose A.; Acevedo, José Joaquín; Castaño, Ángel R.; Pérez-León, Héctor; Capitán, Carlos; Ollero, A.

doi:10.1109/reduas47371.2019.8999705

Cited by 11 publications

(8 citation statements)

References 7 publications

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“…We have developed our UTM system architecture in ROS (Kinetic version), and the software is available online (https://github.com/grvcTeam/gauss, accessed on 26 April 2021). First, we used an airspace SITL simulation based on Gazebo [27] for system integration and preliminary tests. Then, we setup a realistic environment to run experiments in real time with HITL simulations.…”

Section: Methodsmentioning

confidence: 99%

“…In general, the functionalities of the aforementioned systems have only been demonstrated through simplistic simulations, and quite a few works have been devoted to field flight campaigns for preliminary tests [25,26]. We have also proposed in a previous work [27] a more realistic simulator for UAS operations based on the ROS middleware and the 3D simulation suite Gazebo (http://gazebosim.org, accessed on 26 April 2021). In that work, we introduced a preliminary definition of our in-flight services and a tool for mission validation.…”

Section: Related Workmentioning

confidence: 99%

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Unmanned Aerial Traffic Management System Architecture for U-Space In-Flight Services

et al. 2021

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This paper presents a software architecture for Unmanned aerial system Traffic Management (UTM). The work is framed within the U-space ecosystem, which is the European initiative for UTM in the civil airspace. We propose a system that focuses on providing the required services for automated decision-making during real-time threat management and conflict resolution, which is the main gap in current UTM solutions. Nonetheless, our software architecture follows an open-source design that is modular and flexible enough to accommodate additional U-space services in future developments. In its current implementation, our UTM solution is capable of tracking the aerial operations and monitoring the airspace in real time, in order to perform in-flight emergency management and tactical deconfliction. We show experimental results in order to demonstrate the UTM system working in a realistic simulation setup. For that, we performed our tests with the UTM system and the operators of the aerial aircraft located at remote locations with the consequent communication issues, and we showcased that the system was capable of managing in real time the conflicting events in two different use cases.

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Section: Methodsmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Unmanned Aerial Traffic Management System Architecture for U-Space In-Flight Services

et al. 2021

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“…The first focuses on the dynamics of the flight, thus including mechanical energy and kinetics. These works employ Robot Operating System (ROS) [13] and Gazebo [14] as base platforms [8], [10]. The second, instead, focuses on accurate drones networking simulations [5]- [7], [9], [11], mainly based on ns-3 [15] and OMNeT++ [16], in which UAVs are envisioned as nodes exchanging data with certain frequencies using well-known protocols belonging to wireless networks, that can either be cellular or Wi-Fi.…”

Section: Related Workmentioning

confidence: 99%

“…The proposal in [8] is an interesting simulation framework for unmanned aircraft systems traffic management. It leverages both ROS and Gazebo to implement high-level flight services.…”

Section: Related Workmentioning

confidence: 99%

Internet of Drones Simulator: Design, Implementation, and Performance Evaluation

Grieco,

Iacovelli,

Boccadoro

et al. 2022

Preprint

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The Internet of Drones (IoD) is a networking architecture that stems from the interplay between Unmanned Aerial Vehicles (UAVs) and wireless communication technologies. Networked drones can unleash disruptive scenarios in many application domains. At the same time, to really capitalize their potential, accurate modeling techniques are required to catch the fine details that characterize the features and limitations of UAVs, wireless communications, and networking protocols. To this end, the present contribution proposes the Internet of Drones Simulator (IoD-Sim), a comprehensive and versatile open source tool that addresses the many facets of the IoD. IoD-Sim is an Network Simulator 3 (ns-3)-based simulator organized in a 3-layer stack, composed by (i) the Underlying Platform, which provides the telecommunication primitives for different standardized protocol stacks, (ii) the Core, that implements all the fundamental features of an IoD scenario, and (iii) the Simulation Development Platform, mainly composed by a set of tools that speeds up the graphical design for every possible use-case. In order to prove the huge potential of this proposal, three different scenarios are presented and analyzed from both a software perspective and a telecommunication standpoint. The peculiarities of this open-source tool are of interest for researchers in academia, as they will be able to extend to model upcoming specifications, including, but not limited to, mobile networks and satellite communications. Still, it will certainly be of relevance in industry to accelerate the design phase, thus improving the time-to-market of IoD-based services.

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“…The second approach is based on open sources and platforms, which is preferred by small research sectors and academia because they can concentrate on UTM-relevant researches, not putting much labor and expenses into building simulator platforms and tools. UTM simulator studies include "A Simulation Framework for Fast Design Space Exploration of Unmanned Air System Traffic Management Policies" [5], "UAS Traffic Management (UTM) Simulation Capabilities and Laboratory Environment" [6], "A UTM simulator based on ROS and Gazebo" [7], and U-Flyte's UTM Simulator [8].…”

Section: Introductionmentioning

confidence: 99%

Development of a Flexible and Expandable UTM Simulator Based on Open Sources and Platforms

Yoon¹,

Shin

Choi³

et al. 2021

Aerospace

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In order to study air traffic control of UAS’s (Unmanned Aerial Systems) in very low altitudes, the UTM (UAS Traffic Management) simulator has to be as flexible and expandable as other research simulators because relevant technologies and regulations are not matured enough at this stage. Available approaches using open sources and platforms are investigated to be used in the UTM simulator. The fundamental rationale for selection is availability of necessary resources to build a UTM simulator. Integration efforts to build a UTM simulator are elaborated, using Ardupilot, MavProxi, Cesium, and VWorld, which are selected from the thorough field study. Design requirements of a UTM simulator are determined by analyzing UTM services defined by NASA (National Aeronautics and Space Administration) and Eurocontrol. The UTM simulator, named eUTM, is composed of three components: UOS (UTM Operating System), UTM, and multiple GCSs (Ground Control Stations). GCSs are responsible for generation of flight paths of various UASs. UTM component copies functions of a real UTM such as monitoring and controlling air spaces. UOS provides simulation of environment such as weather, and controls the whole UTM simulator system. UOS also generates operation scenarios of UTM, and resides on the same UTM computer as an independent process. Two GCS simulators are connected to the UTM simulator in the present configuration, but the UTM simulator can be expanded to include up to 10 GCS simulators in the present design. In order to demonstrate the flexibility and expandability of eUTM simulator, several operation scenarios are realized and typical deconfliction scenarios among them are tested with a deconfliction algorithm. During the study, some limits are identified with applied open sources and platforms, which have to be resolved in order to obtain a flexible and expandable UTM simulator supporting relevant studies. Most of them are related to interfacing individual sources and platforms which use different program languages and communication drivers.

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A UTM simulator based on ROS and Gazebo

Cited by 11 publications

References 7 publications

Unmanned Aerial Traffic Management System Architecture for U-Space In-Flight Services

Unmanned Aerial Traffic Management System Architecture for U-Space In-Flight Services

Internet of Drones Simulator: Design, Implementation, and Performance Evaluation

Development of a Flexible and Expandable UTM Simulator Based on Open Sources and Platforms

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